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+            "layout_ids": null,
+            "style_ids": null,
+            "obj_instance_split": "target",
+            "clutter_mode": 1,
+            "translucent_robot": false,
+            "layout_and_style_ids": [
+                [
+                    1,
+                    1
+                ],
+                [
+                    2,
+                    2
+                ],
+                [
+                    3,
+                    3
+                ],
+                [
+                    4,
+                    4
+                ],
+                [
+                    5,
+                    5
+                ],
+                [
+                    6,
+                    6
+                ],
+                [
+                    7,
+                    7
+                ],
+                [
+                    8,
+                    8
+                ],
+                [
+                    9,
+                    9
+                ],
+                [
+                    10,
+                    10
+                ]
+            ],
+            "controller_configs": {
+                "type": "HYBRID_MOBILE_BASE",
+                "composite_controller_specific_configs": {
+                    "left_offset": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "right_offset": [
+                        -0.15,
+                        0.0,
+                        0.35
+                    ],
+                    "left2arm_transform": [
+                        [
+                            1,
+                            0,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            1,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            1,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            0,
+                            1
+                        ]
+                    ],
+                    "right2arm_transform": [
+                        [
+                            0,
+                            0.7071068,
+                            0.7071068,
+                            0
+                        ],
+                        [
+                            1,
+                            0,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            0.7071068,
+                            -0.7071068,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            0,
+                            1
+                        ]
+                    ],
+                    "left2finger_transform": [
+                        [
+                            1,
+                            0,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            1,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            1,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            0,
+                            1
+                        ]
+                    ],
+                    "right2finger_transform": [
+                        [
+                            1,
+                            0,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            1,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            1,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            0,
+                            1
+                        ]
+                    ],
+                    "body_part_ordering": [
+                        "right",
+                        "right_gripper",
+                        "base",
+                        "torso"
+                    ]
+                },
+                "body_parts": {
+                    "right": {
+                        "type": "OSC_POSE",
+                        "input_max": 1,
+                        "input_min": -1,
+                        "output_max": [
+                            0.05,
+                            0.05,
+                            0.05,
+                            0.5,
+                            0.5,
+                            0.5
+                        ],
+                        "output_min": [
+                            -0.05,
+                            -0.05,
+                            -0.05,
+                            -0.5,
+                            -0.5,
+                            -0.5
+                        ],
+                        "kp": 150,
+                        "damping_ratio": 1,
+                        "impedance_mode": "fixed",
+                        "kp_limits": [
+                            0,
+                            300
+                        ],
+                        "damping_ratio_limits": [
+                            0,
+                            10
+                        ],
+                        "position_limits": null,
+                        "orientation_limits": null,
+                        "uncouple_pos_ori": true,
+                        "input_type": "delta",
+                        "input_ref_frame": "base",
+                        "interpolation": null,
+                        "ramp_ratio": 0.2,
+                        "gripper": {
+                            "type": "GRIP"
+                        }
+                    },
+                    "torso": {
+                        "type": "JOINT_POSITION",
+                        "interpolation": "null",
+                        "kp": 2000
+                    },
+                    "base": {
+                        "type": "JOINT_VELOCITY",
+                        "interpolation": "null"
+                    }
+                }
+            }
+        }
+    },
+    "env_info": {
+        "env_name": "PickPlaceToasterToCounter",
+        "robots": "PandaOmron",
+        "layout_ids": null,
+        "style_ids": null,
+        "obj_instance_split": "target",
+        "clutter_mode": 1,
+        "translucent_robot": true,
+        "layout_and_style_ids": [
+            [
+                1,
+                1
+            ],
+            [
+                2,
+                2
+            ],
+            [
+                3,
+                3
+            ],
+            [
+                4,
+                4
+            ],
+            [
+                5,
+                5
+            ],
+            [
+                6,
+                6
+            ],
+            [
+                7,
+                7
+            ],
+            [
+                8,
+                8
+            ],
+            [
+                9,
+                9
+            ],
+            [
+                10,
+                10
+            ]
+        ],
+        "controller_configs": {
+            "type": "HYBRID_MOBILE_BASE",
+            "composite_controller_specific_configs": {
+                "left_offset": [
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "right_offset": [
+                    -0.15,
+                    0.0,
+                    0.35
+                ],
+                "left2arm_transform": [
+                    [
+                        1,
+                        0,
+                        0,
+                        0
+                    ],
+                    [
+                        0,
+                        1,
+                        0,
+                        0
+                    ],
+                    [
+                        0,
+                        0,
+                        1,
+                        0
+                    ],
+                    [
+                        0,
+                        0,
+                        0,
+                        1
+                    ]
+                ],
+                "right2arm_transform": [
+                    [
+                        0,
+                        0.7071068,
+                        0.7071068,
+                        0
+                    ],
+                    [
+                        1,
+                        0,
+                        0,
+                        0
+                    ],
+                    [
+                        0,
+                        0.7071068,
+                        -0.7071068,
+                        0
+                    ],
+                    [
+                        0,
+                        0,
+                        0,
+                        1
+                    ]
+                ],
+                "left2finger_transform": [
+                    [
+                        1,
+                        0,
+                        0,
+                        0
+                    ],
+                    [
+                        0,
+                        1,
+                        0,
+                        0
+                    ],
+                    [
+                        0,
+                        0,
+                        1,
+                        0
+                    ],
+                    [
+                        0,
+                        0,
+                        0,
+                        1
+                    ]
+                ],
+                "right2finger_transform": [
+                    [
+                        1,
+                        0,
+                        0,
+                        0
+                    ],
+                    [
+                        0,
+                        1,
+                        0,
+                        0
+                    ],
+                    [
+                        0,
+                        0,
+                        1,
+                        0
+                    ],
+                    [
+                        0,
+                        0,
+                        0,
+                        1
+                    ]
+                ],
+                "body_part_ordering": [
+                    "right",
+                    "right_gripper",
+                    "base",
+                    "torso"
+                ]
+            },
+            "body_parts": {
+                "right": {
+                    "type": "OSC_POSE",
+                    "input_max": 1,
+                    "input_min": -1,
+                    "output_max": [
+                        0.05,
+                        0.05,
+                        0.05,
+                        0.5,
+                        0.5,
+                        0.5
+                    ],
+                    "output_min": [
+                        -0.05,
+                        -0.05,
+                        -0.05,
+                        -0.5,
+                        -0.5,
+                        -0.5
+                    ],
+                    "kp": 150,
+                    "damping_ratio": 1,
+                    "impedance_mode": "fixed",
+                    "kp_limits": [
+                        0,
+                        300
+                    ],
+                    "damping_ratio_limits": [
+                        0,
+                        10
+                    ],
+                    "position_limits": null,
+                    "orientation_limits": null,
+                    "uncouple_pos_ori": true,
+                    "input_type": "delta",
+                    "input_ref_frame": "base",
+                    "interpolation": null,
+                    "ramp_ratio": 0.2,
+                    "gripper": {
+                        "type": "GRIP"
+                    }
+                },
+                "torso": {
+                    "type": "JOINT_POSITION",
+                    "interpolation": "null",
+                    "kp": 2000
+                },
+                "base": {
+                    "type": "JOINT_VELOCITY",
+                    "interpolation": "null"
+                }
+            }
+        }
+    },
+    "mujoco_version": "3.3.1",
+    "robocasa_version": "0.5.1",
+    "robosuite_version": "1.5.2",
+    "time": "15:45:28",
+    "total": 148353
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000000/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000000/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a2bab0207ba9f8b92ede56d9e0f89309b7c9bac
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000000/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031881712773264896,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.025851805051372204,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.753034347605815,
+                    0.65
+                ],
+                "offset": [
+                    0.12348282619709261,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.379832019377656,
+        -0.8301810593598113,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000001/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000001/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fc6a939d57d30d880aeb0197ce07276ea7ed383
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000001/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.7716930274309446,
+                    0.65
+                ],
+                "offset": [
+                    0.6141534862845277,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.6883534892593954,
+        -0.8484773195760389,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000002/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000002/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..badfd3f3bee294a178efc898d848d23009022743
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000002/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.7372253609449144,
+                    0.65
+                ],
+                "offset": [
+                    0.6313873195275428,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.888703807907178,
+        -0.769178331787248,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000004/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000004/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49be0284860c940bca3d7c66adfcd95a4f70fe75
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000004/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.46720661993358537,
+                    0.65
+                ],
+                "offset": [
+                    0.7663966900332073,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.322649272944567,
+        -0.7811866631062868,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000007/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000007/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78a29340ae3bdc036337f2c9785f92f52317531f
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000007/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 6,
+    "style_id": 6,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.028086943943206807,
+                    0.037129040624751294,
+                    0.011430697797485241
+                ],
+                "size": [
+                    0.03549375199002988,
+                    0.1499395248423262
+                ],
+                "height": 0.1650935784551789,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4487619225819133,
+                    0.65
+                ],
+                "offset": [
+                    -0.025619038709043362,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "counter_corner_left_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.5876903318096587,
+        -2.1324626707962206,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000008/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000008/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93aee408e0258f5245a13dfad604416af8b156f8
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000008/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7547956308221275,
+                    0.65
+                ],
+                "offset": [
+                    -0.6226021845889362,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.4135693055525422,
+        -3.3106613472467763,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000011/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000011/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..18c2350911946fc38da1a29f529a0bd73d35af80
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000011/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.7724966231038453,
+                    0.65
+                ],
+                "offset": [
+                    -0.11375168844807737,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.9576030168289427,
+        -0.7794285475434334,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000014/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000014/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6aeae7c3496bfb0c4501f791ca1312ee9381c98
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000014/ep_meta.json
@@ -0,0 +1,526 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.04030260879284553,
+                    0.009326801919293137,
+                    0.01651991792833343
+                ],
+                "size": [
+                    0.028043827446066517,
+                    0.18344923964743354
+                ],
+                "height": 0.1596100543782548,
+                "name": "sideL_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.7364468755735345,
+                    0.65
+                ],
+                "offset": [
+                    -0.25677656221323275,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.2762705230173834,
+        -0.8161109004056316,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000015/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000015/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cd709afe3cc09d28cb903ffe2fc619c1f80598f
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000015/ep_meta.json
@@ -0,0 +1,526 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.040552522034415554,
+                    0.009326801919293137,
+                    0.01651991792833343
+                ],
+                "size": [
+                    0.028743953796493357,
+                    0.18344923964743354
+                ],
+                "height": 0.1596100543782548,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.029376904999351,
+                    0.65
+                ],
+                "offset": [
+                    -0.11031154750032446,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.4447135946864755,
+        -0.819788855601728,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000018/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000018/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4faecbfee94986b9b629eadbe2be7894a34e647
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000018/ep_meta.json
@@ -0,0 +1,346 @@
+{
+    "layout_id": 1,
+    "style_id": 1,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.024984576505869154,
+                    0.0127435748637785,
+                    0.0026348939537400046
+                ],
+                "size": [
+                    0.03374939816828608,
+                    0.1615147360330983
+                ],
+                "height": 0.18441264609025854,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.36692241377127277,
+                    0.65
+                ],
+                "offset": [
+                    -0.1665387931143636,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_3_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.7047010324764718,
+        -0.8285245281611523,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000024/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000024/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..718ae9c895da05771acd2af856796178b3c18186
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000024/ep_meta.json
@@ -0,0 +1,526 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.10221856842815466,
+                    0.009326801919293137,
+                    0.01651991792833343
+                ],
+                "size": [
+                    0.027195377330544904,
+                    0.18344923964743354
+                ],
+                "height": 0.1596100543782548,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2358857863161328,
+                    0.65
+                ],
+                "offset": [
+                    -0.5070571068419336,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.1318296664022625,
+        -0.79059002887801,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000025/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000025/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc08e0f4f006ce245e67ac337ba9d85b7d4ec473
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000025/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031881712773264896,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.025851805051372204,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.7501330327958735,
+                    0.65
+                ],
+                "offset": [
+                    0.12493348360206324,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.4177251058057196,
+        -0.784010278120626,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000027/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000027/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45ede8d0ebdcf3f75e973faa40497a27e0ceb3fb
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000027/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5726210711803557,
+                    0.65
+                ],
+                "offset": [
+                    1.2136894644098222,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.4181688879114973,
+        -0.8258490078908363,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000028/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000028/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..503b08177e5bf2d5a451e9cc83852cfb0c68e808
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000028/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8398077092440461,
+                    0.65
+                ],
+                "offset": [
+                    0.5800961453779769,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.302205502150575,
+        -0.8035350501243034,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000032/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000032/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c877b84a94027483b2ddd801bffcecbfd0646e1
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000032/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.09328373755440962,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.028847541981684405,
+                    0.13595343894164091
+                ],
+                "height": 0.15284162033823803,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6437785530836166,
+                    0.65
+                ],
+                "offset": [
+                    0.4044284584314193,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.6303265086098335,
+        -0.835233326213553,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000033/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000033/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff161792ec5f075fa0eeb6dc43679b7d59fb2460
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000033/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03554726773009748,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.028232484551978864,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideL_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3730545554727234,
+                    0.65
+                ],
+                "offset": [
+                    -0.1634727222636383,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.406458470702245,
+        -2.528768032936514,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000037/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000037/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc24504bb00b488131cac12cbe8c7b58d3742a37
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000037/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.397224795369807,
+                    0.65
+                ],
+                "offset": [
+                    -0.30138760231509654,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.4044427443852694,
+        -3.642402639760619,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000044/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000044/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fc5f969f6467a3c75b1f708278067a779d150c9
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000044/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7289251087971795,
+                    0.65
+                ],
+                "offset": [
+                    -0.6355374456014102,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.4017828305822686,
+        -3.2723246045943917,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000048/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000048/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15d3e99d976be6863206dbbfd61ebff0e4dccfe1
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000048/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03130700270778182,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02869941581022102,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.36372334595033884,
+                    0.65
+                ],
+                "offset": [
+                    0.8181383270248306,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.4499871393881305,
+        -0.8154469637311692,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000049/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000049/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..228fa2aec6caa938d9bb63212fb8a00bdfbbf1a8
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000049/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.02652662992209747,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03265166091255241,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.5519036801432877,
+                    0.65
+                ],
+                "offset": [
+                    0.7240481599283561,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.855825178026955,
+        -0.844775968488945,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000053/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000053/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3da2e4b18971a206ae839f9d4d1cbd11da2b2ae5
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000053/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.5245706610844891,
+                    0.65
+                ],
+                "offset": [
+                    -0.23771466945775543,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.367305753301794,
+        -3.548749815399309,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000056/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000056/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb3b5621a656a93f4a2ec45a164dc161c3d821de
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000056/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031881712773264896,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.025851805051372204,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.614860285279091,
+                    0.65
+                ],
+                "offset": [
+                    -0.1925698573604544,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.094307331726121,
+        -0.8385793890458169,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000060/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000060/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a45813eafedab8fd96005def182916fcbdf22bd8
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000060/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.02652662992209747,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03265166091255241,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1241198031004203,
+                    0.65
+                ],
+                "offset": [
+                    0.9379400984497899,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.0156686096405068,
+        -0.8361251864347132,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000064/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000064/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8889cac28089bb59f482abeff85f71bcdcdc8b76
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000064/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.986400604671047,
+                    0.65
+                ],
+                "offset": [
+                    0.006799697664476412,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.136383768762911,
+        -0.8170048188512548,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000066/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000066/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dcbb229779104474189ef318d0ca49bf2435c79
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000066/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031881712773264896,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.025851805051372204,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.7718800411999807,
+                    0.65
+                ],
+                "offset": [
+                    -0.11405997940000967,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.224806309532593,
+        -0.8492207061015634,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000071/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000071/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25c746db1a032ac332faf1e563ac3f1d81dfab51
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000071/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.035579201562122555,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.028733252874573154,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0405407993360989,
+                    0.65
+                ],
+                "offset": [
+                    0.6028095815576604,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.8074215097726305,
+        -0.829541176221558,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000072/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000072/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f67cb205bdc9bad225acfb008120485fbe574ce
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000072/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.8714874921811413,
+                    0.65
+                ],
+                "offset": [
+                    0.06425625390942935,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.177937134100123,
+        -0.8029638786485676,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000073/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000073/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42606c5f9caff1cfbf40e5ee6b1a553eb69b5ada
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000073/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031881712773264896,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.025851805051372204,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.7004381462282065,
+                    0.65
+                ],
+                "offset": [
+                    -0.14978092688589673,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.162106103492882,
+        -0.849306764150028,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000074/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000074/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4ae599811b638ac8b08cb68d8aca9121f18d40f
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000074/ep_meta.json
@@ -0,0 +1,346 @@
+{
+    "layout_id": 1,
+    "style_id": 1,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.02653072560024173,
+                    0.0127435748637785,
+                    0.0026348939537400046
+                ],
+                "size": [
+                    0.033713449818154245,
+                    0.1615147360330983
+                ],
+                "height": 0.18441264609025854,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5842464369075022,
+                    0.65
+                ],
+                "offset": [
+                    -0.05787678154624887,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_3_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.9293027396768285,
+        -0.8006454805942449,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000075/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000075/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a59c4aeeea136a880ce8b30399f79ac2d29a98d
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000075/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.02652662992209747,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03265166091255241,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3767273567872778,
+                    0.65
+                ],
+                "offset": [
+                    0.8116363216063611,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.9177846285228397,
+        -0.7971146611593445,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000076/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000076/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56ac49e53b3fc92ae703f7104fb152d98afdb26a
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000076/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.842866713962744,
+                    0.65
+                ],
+                "offset": [
+                    0.07856664301862804,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.335105954808969,
+        -0.7814036429043433,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000078/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000078/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bd6081df22047735c910e5dfd8054411902cb98
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000078/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.09108096735339122,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.02930905237664179,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5790807283162096,
+                    0.65
+                ],
+                "offset": [
+                    0.37207954604771576,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.582533913144494,
+        -0.8090944651066047,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000079/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000079/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6f755418127957977778d50e7618e20fb1f6e52
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000079/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 6,
+    "style_id": 6,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.028086943943206807,
+                    0.037129040624751294,
+                    0.011430697797485241
+                ],
+                "size": [
+                    0.03549375199002988,
+                    0.1499395248423262
+                ],
+                "height": 0.1650935784551789,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.3234309278429883,
+                    0.65
+                ],
+                "offset": [
+                    -0.08828453607850584,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "counter_corner_left_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.5869170481707315,
+        -2.1926962613030785,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000080/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000080/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb9fccd896db32c34454908d5ec5403cb9b29194
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000080/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03130700270778182,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02869941581022102,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3394148793888325,
+                    0.65
+                ],
+                "offset": [
+                    -0.33029256030558374,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.448050354359533,
+        -3.437435799076541,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000083/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000083/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..70baabb5dc0912c6fefd2f2c47f308e3d77c60aa
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000083/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 6,
+    "style_id": 6,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.028086943943206807,
+                    0.037129040624751294,
+                    0.011430697797485241
+                ],
+                "size": [
+                    0.03549375199002988,
+                    0.1499395248423262
+                ],
+                "height": 0.1650935784551789,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.3575844773806214,
+                    0.65
+                ],
+                "offset": [
+                    -0.07120776130968931,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "counter_corner_left_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.5763498776548093,
+        -2.039727147869946,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000084/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000084/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e369f612f73077416153269e0f777ad2cd408081
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000084/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4509834700471469,
+                    0.65
+                ],
+                "offset": [
+                    -0.7745082649764266,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.359953013097462,
+        -3.149246007663182,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000086/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000086/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8dabea02510063815ca30cac6a7e80e996d8028
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000086/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6976123876629083,
+                    0.65
+                ],
+                "offset": [
+                    -0.6511938061685458,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.353398015833121,
+        -3.046686592146941,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000087/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000087/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c850ce06638a182a97aa8746f379634aef29ff2
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000087/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.034555275335830735,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.02917757867652921,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideL_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2780514110677397,
+                    0.65
+                ],
+                "offset": [
+                    0.7215648874234808,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.872951623401436,
+        -0.8366081007421602,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000092/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000092/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73617daba1d80966cfea3c75344fbe70b796e82d
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000092/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.09328373755440962,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.028847541981684405,
+                    0.13595343894164091
+                ],
+                "height": 0.15284162033823803,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5736548350738799,
+                    0.65
+                ],
+                "offset": [
+                    0.3693665994265509,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.3929092714477087,
+        -0.7902196459756587,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000099/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000099/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af8079c54a3e1a88d5ab3b7992d357718fc8d625
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000099/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.09410521323402081,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026993811977440052,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2562613850158912,
+                    0.65
+                ],
+                "offset": [
+                    -0.22186930749205436,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.441424720229347,
+        -2.615299281712594,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000100/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000100/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b48f32e477c3e65534c9dd110c6bd8b45e3797c
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000100/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.09410521323402081,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026993811977440052,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.4807761196004356,
+                    0.65
+                ],
+                "offset": [
+                    0.10961194019978215,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.350596772368911,
+        -2.922635680628435,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000101/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000101/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4e306948c12bcef2632a77efb990fe088bea3e5
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000101/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.02652662992209747,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03265166091255241,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1029447454925139,
+                    0.65
+                ],
+                "offset": [
+                    0.9485276272537431,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.0460701695788757,
+        -0.8426864018594665,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000107/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000107/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfe832a03d1afed3c878e3af7cb0249f9c49d7c1
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000107/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03130700270778182,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02869941581022102,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3768422573247738,
+                    0.65
+                ],
+                "offset": [
+                    -0.3115788713376131,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.4091156096305526,
+        -3.4347725876502677,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000111/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000111/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fe06c975acbf35503035bcbdce88064466dcafb
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000111/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7019268046069307,
+                    0.65
+                ],
+                "offset": [
+                    1.1490365976965347,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.4063123453688537,
+        -0.8330110899440055,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000115/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000115/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6a954d3b1a331f6fb8dc00bd7354b2c85eb324c
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000115/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03130700270778182,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02869941581022102,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.3891889421947017,
+                    0.65
+                ],
+                "offset": [
+                    0.8054055289026492,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.4496084019876814,
+        -0.8383948925748413,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000136/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000136/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90656a1a0f2873f4b0b48511aec6a3044b51f2b2
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000136/ep_meta.json
@@ -0,0 +1,526 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.040552522034415554,
+                    0.009326801919293137,
+                    0.01651991792833343
+                ],
+                "size": [
+                    0.028743953796493357,
+                    0.18344923964743354
+                ],
+                "height": 0.1596100543782548,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2405998183706637,
+                    0.65
+                ],
+                "offset": [
+                    -0.5047000908146682,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.175501871295488,
+        -0.7794217591264291,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000138/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000138/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3322a30f2c01c55bb2eca5b7c176306082d441bf
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000138/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03130700270778182,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02869941581022102,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.5892479478151902,
+                    0.65
+                ],
+                "offset": [
+                    -0.2053760260924049,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.363294597665274,
+        -3.500061374340481,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000139/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000139/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1efb34d3fbe8a974199be3acac715a5fb06dc9c
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000139/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0739291737604395,
+                    0.65
+                ],
+                "offset": [
+                    0.9630354131197802,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.296600946709098,
+        -0.804818607844218,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000140/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000140/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6340596b8c2ec87fc28c71c449ab79806ff17527
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000140/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.09108096735339122,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.02930905237664179,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5575385479957824,
+                    0.65
+                ],
+                "offset": [
+                    0.36130845588750216,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.610792505851437,
+        -0.8231239747236869,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000141/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000141/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a862e6d916016f02963726839675f3255bb718e
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000141/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.6943394538827317,
+                    0.65
+                ],
+                "offset": [
+                    0.6528302730586342,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.792509907800711,
+        -0.7837435754040584,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000143/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000143/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f591a82ec1f32bcf6144ad0499414aee90c0a72e
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000143/ep_meta.json
@@ -0,0 +1,595 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.08177345483947249,
+                    0.010383213268814154,
+                    0.02615959274445951
+                ],
+                "size": [
+                    0.02242960297580228,
+                    0.14512216743022704
+                ],
+                "height": 0.1339414845414603,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1457705027491745,
+                    0.65
+                ],
+                "offset": [
+                    0.42711474862541277,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.637655746553083,
+        -2.1007677261772475,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000145/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000145/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7361083f0a2ee8c30be52b9e5bb42454bf715cb1
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000145/ep_meta.json
@@ -0,0 +1,526 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.10221856842815466,
+                    0.009326801919293137,
+                    0.01651991792833343
+                ],
+                "size": [
+                    0.027195377330544904,
+                    0.18344923964743354
+                ],
+                "height": 0.1596100543782548,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.356673787899768,
+                    0.65
+                ],
+                "offset": [
+                    -0.44666310605011605,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.2036656169971334,
+        -0.8436598736724535,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000148/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000148/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f596e03ed16b04b9f9c27b05a8b4b44741171e09
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000148/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03130700270778182,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02869941581022102,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8088137738766559,
+                    0.65
+                ],
+                "offset": [
+                    0.5955931130616721,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.217711025190662,
+        -0.8272540958790705,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000149/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000149/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c27307e95f2438ebc1cd095c6b6305708068e18c
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000149/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.843896141643575,
+                    0.65
+                ],
+                "offset": [
+                    -0.5780519291782125,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.6493837152958557,
+        -0.79123379034082,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000150/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000150/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b471212ce3d6ee63e58dbe6cca57be42f303eac
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000150/ep_meta.json
@@ -0,0 +1,595 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.03144332985431071,
+                    0.010383213268814154,
+                    0.02615959274445951
+                ],
+                "size": [
+                    0.02388234877782651,
+                    0.14512216743022704
+                ],
+                "height": 0.1339414845414603,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5989532650911373,
+                    0.65
+                ],
+                "offset": [
+                    0.7005233674544313,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.564610072598473,
+        -2.307509773356907,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000155/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000155/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c85d0d4ba2f3bca228042b1aae9a9900da6da81
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000155/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.09328373755440962,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.028847541981684405,
+                    0.13595343894164091
+                ],
+                "height": 0.15284162033823803,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8708125960281985,
+                    0.65
+                ],
+                "offset": [
+                    0.5179454799037102,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.6988746012146474,
+        -0.7993149224637549,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000156/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000156/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..afb4a5ef0bc1634956b75498e8a2d29b649d40f9
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000156/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.77082716422008,
+                    0.65
+                ],
+                "offset": [
+                    0.61458641788996,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.7021297166904055,
+        -0.7643634678032565,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000157/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000157/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc78621db621700e6438ca89a1b447330550e531
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000157/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.7999419491184456,
+                    0.65
+                ],
+                "offset": [
+                    0.6000290254407772,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.9094657255679106,
+        -0.8203901294564969,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000158/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000158/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93adca7df905cce3f15ef803202710c261113a9d
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000158/ep_meta.json
@@ -0,0 +1,595 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.03144332985431071,
+                    0.010383213268814154,
+                    0.02615959274445951
+                ],
+                "size": [
+                    0.02388234877782651,
+                    0.14512216743022704
+                ],
+                "height": 0.1339414845414603,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.40934074637376217,
+                    0.65
+                ],
+                "offset": [
+                    0.7953296268131189,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.550535107533643,
+        -2.444002932068321,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000159/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000159/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0054caaa0980685125dbf475b4b7c918c958fe99
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000159/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.4114845338376405,
+                    0.65
+                ],
+                "offset": [
+                    0.29425773308117975,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.623214504828744,
+        -0.7931439841285297,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000162/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000162/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b90adfa78bed01ec0d4126e1ee934bed50aaa81
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000162/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.034555275335830735,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.02917757867652921,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideL_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7892313923800371,
+                    0.65
+                ],
+                "offset": [
+                    0.47715487807962953,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.7371234610636908,
+        -0.8111550924092263,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000164/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000164/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..02a6af98ded93dfb4a092830e45ba92e6da71067
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000164/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031881712773264896,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.025851805051372204,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.3772575271607095,
+                    0.65
+                ],
+                "offset": [
+                    -0.31137123641964526,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.8311421258420597,
+        -0.7836823668771252,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000165/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000165/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..effc7fd6f53b2fb4339c56a126365b078b6001d3
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000165/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.035579201562122555,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.028733252874573154,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6941548149111239,
+                    0.65
+                ],
+                "offset": [
+                    0.4296165893451729,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.5974218329980014,
+        -0.8336827515381626,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000166/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000166/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7428c61cdd758dbf7b0ca54d736e7a8718eb631
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000166/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031881712773264896,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.025851805051372204,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.1349431906937464,
+                    0.65
+                ],
+                "offset": [
+                    -0.4325284046531268,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.7747761380266172,
+        -0.8294106161989432,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000168/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000168/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bac4f6b312084eb7cf92d3938ced35d872660f6
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000168/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03554726773009748,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.028232484551978864,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideL_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2511077536673623,
+                    0.65
+                ],
+                "offset": [
+                    0.22444612316631884,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.388274111706639,
+        -3.026152697631597,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000169/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000169/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aada5c729d702f0bdc52d422d66943041e438c69
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000169/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03554726773009748,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.028232484551978864,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideL_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.4193347886089638,
+                    0.65
+                ],
+                "offset": [
+                    0.1403326056955181,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.35495317930676,
+        -2.8574435820869892,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000178/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000178/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4a0f0b3d8c4842b18e804bc470e90fe952f8c88
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000178/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 6,
+    "style_id": 6,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.028086943943206807,
+                    0.037129040624751294,
+                    0.011430697797485241
+                ],
+                "size": [
+                    0.03549375199002988,
+                    0.1499395248423262
+                ],
+                "height": 0.1650935784551789,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.34678200048126495,
+                    0.65
+                ],
+                "offset": [
+                    0.07660899975936752,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "counter_corner_left_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.5671091503540766,
+        -2.1631017883997696,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000180/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000180/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e18e9411bd8e21069a39cc719c0a806318914a24
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000180/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0265470271579407,
+                    0.65
+                ],
+                "offset": [
+                    0.9867264864210297,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.2912466773706464,
+        -0.8327297932912869,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000186/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000186/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44a9a1aece05ebba84b6c66273f1083e92ef00c1
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000186/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.035579201562122555,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.028733252874573154,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1132521314281993,
+                    0.65
+                ],
+                "offset": [
+                    0.6391652476037106,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.844147335859098,
+        -0.7511491164236679,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000187/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000187/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..191e69598a9737e50c8799363b2060b8c7a4949c
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000187/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03130700270778182,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02869941581022102,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4885675317975178,
+                    0.65
+                ],
+                "offset": [
+                    -0.7557162341012411,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.383576271457527,
+        -3.1288482725022884,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000188/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000188/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..474ca8b8ba55d85854321bed256e388d4ea80c6c
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000188/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.09108096735339122,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.02930905237664179,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.604040748607414,
+                    0.65
+                ],
+                "offset": [
+                    0.38455955619331794,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.6707102059635273,
+        -0.7515809542596184,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000189/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000189/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d64fb2cdfd9def6e9797250dbf353534bff858f7
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000189/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031881712773264896,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.025851805051372204,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.29625143476947,
+                    0.65
+                ],
+                "offset": [
+                    0.351874282615265,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.6636467986106838,
+        -0.7765153291727732,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000192/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000192/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0f0e09ecadba3d1bb6523958f09bd4f3e89833e
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000192/ep_meta.json
@@ -0,0 +1,526 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.10288141922519942,
+                    0.009326801919293137,
+                    0.01651991792833343
+                ],
+                "size": [
+                    0.028244451992850722,
+                    0.18344923964743354
+                ],
+                "height": 0.1596100543782548,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.769916407672624,
+                    0.65
+                ],
+                "offset": [
+                    -0.24004179616368804,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.2971428348751326,
+        -0.7621306331132118,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000196/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000196/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c66abb2733a5e78e50b1f2f6f85ce1591c5c48fe
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000196/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.09410521323402081,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026993811977440052,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1748819908009034,
+                    0.65
+                ],
+                "offset": [
+                    0.2625590045995483,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.401304246708823,
+        -3.0965903744336982,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000197/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000197/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0761f28c7d99d7f4a49b383c2b9bfbd3cf38d651
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000197/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.034555275335830735,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.02917757867652921,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideL_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1359215833826453,
+                    0.65
+                ],
+                "offset": [
+                    0.6504999735809336,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.6708331184076606,
+        -0.7726793063635212,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000199/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000199/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..813fc73b19a09ba5b16094be9606165523f1d8d5
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000199/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.8609292868500473,
+                    0.65
+                ],
+                "offset": [
+                    -0.06953535657497634,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.996548133363379,
+        -0.8112294219208779,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000208/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000208/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1e57f00b247a02662bcad2b6e1bf1fa4db1fe69
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000208/ep_meta.json
@@ -0,0 +1,595 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.03144332985431071,
+                    0.010383213268814154,
+                    0.02615959274445951
+                ],
+                "size": [
+                    0.02388234877782651,
+                    0.14512216743022704
+                ],
+                "height": 0.1339414845414603,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8500402897498969,
+                    0.65
+                ],
+                "offset": [
+                    0.5749798551250516,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.569272237401044,
+        -2.3457028372770767,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000214/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000214/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d34041a52dd0fd4f1fa7f71b107240dceee23118
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000214/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03554726773009748,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.028232484551978864,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideL_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.5171082350262395,
+                    0.65
+                ],
+                "offset": [
+                    -0.09144588248688024,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.41653214064519,
+        -2.725372196350451,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000215/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000215/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..819673d96b3f3d40b42a3c6e976f15be7ae27efd
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000215/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.02652662992209747,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03265166091255241,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.6633109952354639,
+                    0.65
+                ],
+                "offset": [
+                    0.6683445023822681,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.798594184640915,
+        -0.8032996481813076,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000217/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000217/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2cb3690d1d383efae700b141181d9ce32b0eed7
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000217/ep_meta.json
@@ -0,0 +1,346 @@
+{
+    "layout_id": 1,
+    "style_id": 1,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.02653072560024173,
+                    0.0127435748637785,
+                    0.0026348939537400046
+                ],
+                "size": [
+                    0.033713449818154245,
+                    0.1615147360330983
+                ],
+                "height": 0.18441264609025854,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5964777930969987,
+                    0.65
+                ],
+                "offset": [
+                    -0.051761103451500645,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_3_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.8386433789486225,
+        -0.8004999297117855,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000218/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000218/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d31c582a2ef99cf2668f3dd9d34d13f599d0d13f
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000218/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.034555275335830735,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.02917757867652921,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideL_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7930618977210797,
+                    0.65
+                ],
+                "offset": [
+                    0.4790701307501508,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.667498533187133,
+        -0.7503162875722599,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000220/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000220/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..902a8efaa2283b3734a058f9c6a23b6280182c9e
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000220/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.03531483191495319,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026029727913659064,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.484463377142667,
+                    0.65
+                ],
+                "offset": [
+                    -0.1077683114286665,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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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": [
+        4.416750377346785,
+        -2.5845367206480807,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000223/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000223/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e8ec0206466899dedaf3af2ee2f80effc786da0
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000223/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03554726773009748,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.028232484551978864,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideL_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.6922891558422701,
+                    0.65
+                ],
+                "offset": [
+                    0.003855422078864912,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.5,
+                -0.35,
+                1.05
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+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
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+                0.95
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+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.390952911267095,
+        -2.7328910186679343,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000228/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000228/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3a308e706bb66b1c674ed0a394e81b33e7616a5
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000228/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.034555275335830735,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.02917757867652921,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideL_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2384579231358785,
+                    0.65
+                ],
+                "offset": [
+                    0.7017681434575502,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.8806960418683056,
+        -0.8414234631379974,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000235/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000235/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3179e8dfc777917b58d10b1960c40f544f2a0e49
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000235/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 6,
+    "style_id": 6,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.028459132261016255,
+                    0.037129040624751294,
+                    0.011430697797485241
+                ],
+                "size": [
+                    0.0351324449045298,
+                    0.1499395248423262
+                ],
+                "height": 0.1650935784551789,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.3939551852645611,
+                    0.65
+                ],
+                "offset": [
+                    -0.05302240736771946,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "counter_corner_left_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.566639012227575,
+        -2.187317474308255,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000238/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000238/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56a23f7951c3511443192caa5620a0518cb839c8
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000238/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.02652662992209747,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03265166091255241,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.9767663006591718,
+                    0.65
+                ],
+                "offset": [
+                    1.011616849670414,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.290126131556015,
+        -0.8395230913983861,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000240/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000240/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58fdd5b459ef43fb7a3793279027e118007b00c2
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000240/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.09108096735339122,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.02930905237664179,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5874061475702403,
+                    0.65
+                ],
+                "offset": [
+                    0.37624225567473113,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.437032039838286,
+        -0.7539487440086297,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000241/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000241/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97cd97a9c3732707316281176e120d75318432b2
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000241/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 6,
+    "style_id": 6,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.028086943943206807,
+                    0.037129040624751294,
+                    0.011430697797485241
+                ],
+                "size": [
+                    0.03549375199002988,
+                    0.1499395248423262
+                ],
+                "height": 0.1650935784551789,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.44899602554673734,
+                    0.65
+                ],
+                "offset": [
+                    0.02550198722663133,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "counter_corner_left_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.578727996054116,
+        -2.179557868278006,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000247/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000247/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d660840413f88e2aaa19f2ca8f532550c29d536b
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000247/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.5891868085374874,
+                    0.65
+                ],
+                "offset": [
+                    -0.2054065957312563,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.4077350713729846,
+        -3.583037221397902,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000249/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000249/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..76aa24dde0e55ce053daaec186a6a54d5b1aecf4
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000249/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.9956587165611008,
+                    0.65
+                ],
+                "offset": [
+                    1.0021706417194496,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.0904172284365017,
+        -0.82744091207622,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000251/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000251/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..efdf9b32444f97b8f425d124ec148f7afb456df5
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000251/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0303225475031104,
+                    0.65
+                ],
+                "offset": [
+                    -0.4848387262484448,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.412994813128192,
+        -3.2331535984245967,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000252/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000252/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e8246d543814d0ca06fc4572ad8904709bfb052
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000252/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.4777523671921218,
+                    0.65
+                ],
+                "offset": [
+                    0.7611238164039391,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.8610472597619916,
+        -0.8212805322050207,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000254/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000254/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bce3f0178c106e379456978e1d3d66062446c03
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000254/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.9393692635850801,
+                    0.65
+                ],
+                "offset": [
+                    -0.53031536820746,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.376320989685833,
+        -3.4198384727912083,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000255/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000255/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c613c26f8986393ae45c78640f35c743712a559d
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000255/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03130700270778182,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02869941581022102,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6270139534942638,
+                    0.65
+                ],
+                "offset": [
+                    0.6864930232528681,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.42838992000998,
+        -0.8312622864063348,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000256/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000256/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9edd776773cbe6a566187b2ee50ef24050c49d29
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000256/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.829881540161324,
+                    0.65
+                ],
+                "offset": [
+                    0.585059229919338,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.3831454095209628,
+        -0.8013284688168296,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000258/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000258/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..363b08a5e51d4b8902a5b1fda25125ca6f53e675
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000258/ep_meta.json
@@ -0,0 +1,526 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.040552522034415554,
+                    0.009326801919293137,
+                    0.01651991792833343
+                ],
+                "size": [
+                    0.028743953796493357,
+                    0.18344923964743354
+                ],
+                "height": 0.1596100543782548,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.9461758380163277,
+                    0.65
+                ],
+                "offset": [
+                    -0.6519120809918362,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.882164823352936,
+        -0.8440512062403291,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000259/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000259/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a64906925468fcb91fd6ebf2b6213a3c56ffc61
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000259/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031881712773264896,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.025851805051372204,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.791191605669556,
+                    0.65
+                ],
+                "offset": [
+                    0.10440419716522209,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.332612692044175,
+        -0.7672541932581175,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000260/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000260/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcf5bf13915197567ba80c6b73a4d9aab699f597
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000260/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3267134364738524,
+                    0.65
+                ],
+                "offset": [
+                    0.8366432817630738,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.093145494943089,
+        -0.8396776103089791,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000261/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000261/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77df5035cc7620317203667c33ae789f36a300c3
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000261/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.313969135112524,
+                    0.65
+                ],
+                "offset": [
+                    0.843015432443738,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.403939675835655,
+        -0.7777674663394465,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000271/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000271/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..756da3d96f3ab6f29b8f61c31d1bb76d48836fd5
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000271/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.034555275335830735,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.02917757867652921,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideL_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.030915384566881,
+                    0.65
+                ],
+                "offset": [
+                    0.5979968741730515,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.605303123622829,
+        -0.7803102168544687,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000272/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000272/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63eb8893da982c9995cb8df1d645a0f638df33d2
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000272/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6462198703048863,
+                    0.65
+                ],
+                "offset": [
+                    1.1768900648475569,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.2277638675365585,
+        -0.8335286518698096,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000274/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000274/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bae379192a7c47a19bc7f7172eee394ba078ad38
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000274/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031881712773264896,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.025851805051372204,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.628291376850174,
+                    0.65
+                ],
+                "offset": [
+                    -0.18585431157491294,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.137964368576826,
+        -0.7636619917206514,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000276/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000276/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c3c0efa0d3d9f0aa401b446995d8031fbf950ab
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000276/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.249702048059116,
+                    0.65
+                ],
+                "offset": [
+                    0.37514897597044206,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.546958705340865,
+        -0.8076911419592816,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000277/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000277/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d1b8e18e3f8c2e5a6329d01728ef680a3c26e87
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000277/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.09410521323402081,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026993811977440052,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.4200567234996677,
+                    0.65
+                ],
+                "offset": [
+                    0.13997163825016612,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.35561626202709,
+        -2.9504667397820508,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000283/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000283/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b621f165ec948879d672e3cd549a012c825c422
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000283/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.09254931675105743,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026799864262730955,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3531271212326643,
+                    0.65
+                ],
+                "offset": [
+                    -0.17343643938366782,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.442000519110626,
+        -2.5385592548695244,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000287/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000287/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8faf2d4fa63505b9d06773138711c5d4bd935c0
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000287/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031881712773264896,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.025851805051372204,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.9225034655179734,
+                    0.65
+                ],
+                "offset": [
+                    -0.03874826724101332,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.103531236449802,
+        -0.7943036470095,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000291/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000291/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..393c5a6b9491b98427635a5cd045eebefcac59ef
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000291/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.33572572994308114,
+                    0.65
+                ],
+                "offset": [
+                    -0.8321371350284594,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.3509020512037004,
+        -2.9719808819717186,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000292/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000292/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6943c51761f75955a46f2d2b59080d73db640ec6
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000292/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.09254931675105743,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026799864262730955,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.6882052596934398,
+                    0.65
+                ],
+                "offset": [
+                    -0.005897370153280068,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.41449744320159,
+        -2.698206927841758,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000293/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000293/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd56b12bbb71dee0a8f37a30edb14a7a6666d4dc
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000293/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03130700270778182,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02869941581022102,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4294268294419483,
+                    0.65
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+                "offset": [
+                    0.7852865852790258,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.4467563883844585,
+        -0.7846217229093126,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000295/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000295/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1df94267cec1a699902307c03cffb391cd378160
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000295/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.03531483191495319,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026029727913659064,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2556844987954345,
+                    0.65
+                ],
+                "offset": [
+                    -0.2221577506022827,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.3971665459218805,
+        -2.4702933955002244,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000296/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000296/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da7a903acd0fadd2298a2b7dd0de99f5552033e3
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000296/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.521936758936488,
+                    0.65
+                ],
+                "offset": [
+                    -0.23903162053175597,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.3669742496082704,
+        -3.5323587715678824,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000298/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000298/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a21471d041ca9512527fd1682796daa432a2186f
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000298/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.4623523754950374,
+                    0.65
+                ],
+                "offset": [
+                    -0.2688238122524813,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.984190606951086,
+        -0.8381370268653251,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000300/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000300/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0640930e603c656d16ac4632aa0a4f8836990101
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000300/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.09410521323402081,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026993811977440052,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.5009993149033674,
+                    0.65
+                ],
+                "offset": [
+                    -0.0995003425483163,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.38899864291191,
+        -2.7170685255101223,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000302/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000302/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcdba2b85f5535f4ae902737ae6549bec4fc4dda
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000302/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7114866027515934,
+                    0.65
+                ],
+                "offset": [
+                    0.6442566986242033,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.206611615176809,
+        -0.8293483561339864,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000306/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000306/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcae2046e894e088da7f26305f08d35abc863a79
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000306/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.029037032468528,
+                    0.65
+                ],
+                "offset": [
+                    -0.48548148376573597,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.3892787751047457,
+        -3.3433928381865385,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000311/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000311/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..953a7f6d5f02eb90d668e32c1f442b32d287690d
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000311/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.02652662992209747,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03265166091255241,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.5842515699268294,
+                    0.65
+                ],
+                "offset": [
+                    0.7078742150365853,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.047217007675158,
+        -0.8148669224766159,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000317/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000317/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ca56be13f22064bcc659818471808037dc3c2fa
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000317/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.03531483191495319,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026029727913659064,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.5220541938251093,
+                    0.65
+                ],
+                "offset": [
+                    0.08897290308744532,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.443310343600786,
+        -2.708445161869013,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000318/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000318/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..479015138f2e2d7e0e97be7fea36e20f5e28930d
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000318/ep_meta.json
@@ -0,0 +1,526 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.10221856842815466,
+                    0.009326801919293137,
+                    0.01651991792833343
+                ],
+                "size": [
+                    0.027195377330544904,
+                    0.18344923964743354
+                ],
+                "height": 0.1596100543782548,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.761052572542239,
+                    0.65
+                ],
+                "offset": [
+                    -0.7444737137288805,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.7826380297205973,
+        -0.8204256914256645,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000320/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000320/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c62dafd15a039212827a23fc91ca684203ef24e
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000320/ep_meta.json
@@ -0,0 +1,526 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.10288141922519942,
+                    0.009326801919293137,
+                    0.01651991792833343
+                ],
+                "size": [
+                    0.028244451992850722,
+                    0.18344923964743354
+                ],
+                "height": 0.1596100543782548,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1993900725204365,
+                    0.65
+                ],
+                "offset": [
+                    -0.5253049637397817,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.113563575704686,
+        -0.8471416071046308,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000323/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000323/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea2d9efad0eb7bedc43244660139d8dccb818e1a
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000323/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.09410521323402081,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026993811977440052,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3053710406539956,
+                    0.65
+                ],
+                "offset": [
+                    -0.1973144796730022,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.360694963106989,
+        -2.4500738013735788,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000325/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000325/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fe0f64fd18ae669ac354c7a1cbb7b308389d4ee
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000325/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.3000834946300603,
+                    0.65
+                ],
+                "offset": [
+                    -0.34995825268496983,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.7602205874647567,
+        -0.784712634858517,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000329/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000329/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b1f22686ec670b00de0d20714283b30751da9bd
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000329/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 6,
+    "style_id": 6,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.028086943943206807,
+                    0.037129040624751294,
+                    0.011430697797485241
+                ],
+                "size": [
+                    0.03549375199002988,
+                    0.1499395248423262
+                ],
+                "height": 0.1650935784551789,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.35618668121219166,
+                    0.65
+                ],
+                "offset": [
+                    0.07190665939390417,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "counter_corner_left_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.5603453139665846,
+        -2.1576760193824027,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000330/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000330/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2253eba2cc8437e14fc0696db88d35ba396711e4
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000330/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031881712773264896,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.025851805051372204,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.392650209682164,
+                    0.65
+                ],
+                "offset": [
+                    0.3036748951589181,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.476173148571078,
+        -0.7799484450015032,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000337/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000337/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d33d7b1cee1bd1490a1a3321f4399f519801f310
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000337/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.02652662992209747,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03265166091255241,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2366050424630721,
+                    0.65
+                ],
+                "offset": [
+                    0.8816974787684639,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.0811757186555875,
+        -0.8316375639715546,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000339/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000339/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c180ae0d582f1bd96de50a224c7753d6c957db73
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000339/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.09410521323402081,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026993811977440052,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.626538442532915,
+                    0.65
+                ],
+                "offset": [
+                    -0.03673077873354247,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.356028569374075,
+        -2.7384984627150395,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000340/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000340/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b3891de1d3bf267aa16637ea1da4eb7cd8c2d9a
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000340/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.09108096735339122,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.02930905237664179,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8883754321234429,
+                    0.65
+                ],
+                "offset": [
+                    0.5267268979513324,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.5424378306034523,
+        -0.7691782137746901,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000342/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000342/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c39cb2cce7eec6ae2be7eb96047db54fc96bc70
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000342/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.2371272064024668,
+                    0.65
+                ],
+                "offset": [
+                    0.3814363967987666,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.730287940859218,
+        -0.8000566213205116,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000349/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000349/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..636d381fcf8ff6a882db4873a50e50c027438a3e
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000349/ep_meta.json
@@ -0,0 +1,346 @@
+{
+    "layout_id": 1,
+    "style_id": 1,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.02653072560024173,
+                    0.0127435748637785,
+                    0.0026348939537400046
+                ],
+                "size": [
+                    0.033713449818154245,
+                    0.1615147360330983
+                ],
+                "height": 0.18441264609025854,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6351301993526739,
+                    0.65
+                ],
+                "offset": [
+                    -0.03243490032366303,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_3_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.7048463089718053,
+        -0.8100299052181628,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000351/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000351/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1da12bade3f44e801e6324f29ba0c2d4d0bccacc
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000351/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.110232593352607,
+                    0.65
+                ],
+                "offset": [
+                    -0.44488370332369653,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.4027747374324395,
+        -3.504954387287519,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000353/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000353/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbca112d20f0179eecdc0fc4772fefb35c56b7fc
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000353/ep_meta.json
@@ -0,0 +1,595 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.08177345483947249,
+                    0.010383213268814154,
+                    0.02615959274445951
+                ],
+                "size": [
+                    0.02242960297580228,
+                    0.14512216743022704
+                ],
+                "height": 0.1339414845414603,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3721168818615554,
+                    0.65
+                ],
+                "offset": [
+                    0.3139415590692223,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.554406631496719,
+        -2.0332180993658877,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000355/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000355/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c9fe849b7c2b531e828107b178bc41fc32a0128
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000355/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0710712256244115,
+                    0.65
+                ],
+                "offset": [
+                    0.46446438718779426,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.5458728051149846,
+        -0.7783841295871234,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000357/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000357/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..894a02b5a988ce84714084ff718a44fffd2c7f59
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000357/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03130700270778182,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02869941581022102,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8277179822972833,
+                    0.65
+                ],
+                "offset": [
+                    0.5861410088513583,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.3154033803498217,
+        -0.8120523893463847,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000361/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000361/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..245f713a3e8ebcdeba3d4ddfd9ab8b2f4c72a9da
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000361/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.384175950163449,
+                    0.65
+                ],
+                "offset": [
+                    0.3079120249182754,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.511587490591291,
+        -0.7992304775441611,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000365/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000365/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d77ed9d9de6e218fd56fa4bc385de4e5f037599
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000365/ep_meta.json
@@ -0,0 +1,595 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.08228102921288177,
+                    0.010383213268814154,
+                    0.02615959274445951
+                ],
+                "size": [
+                    0.02556033376506557,
+                    0.14512216743022704
+                ],
+                "height": 0.1339414845414603,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8660729930312012,
+                    0.65
+                ],
+                "offset": [
+                    0.5669635034843994,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.566766943867931,
+        -2.391019530858703,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000367/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000367/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..98a2f0d31e6db571ac1cbb51abef71f9b24d5891
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000367/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.681390560439727,
+                    0.65
+                ],
+                "offset": [
+                    0.6593047197801365,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.95073450289617,
+        -0.8184194890938243,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000372/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000372/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d57dbee436b1aa722ec42055ba32ce673642e89
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000372/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.7759498190460397,
+                    0.65
+                ],
+                "offset": [
+                    -0.11202509047698017,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.0835263134751543,
+        -0.7976647497039308,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000376/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000376/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28fd0e058a440114face04918917fedf58d150bb
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000376/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5899405158482622,
+                    0.65
+                ],
+                "offset": [
+                    0.7050297420758689,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.447261920153492,
+        -0.8402144246204452,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000380/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000380/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e22c24b2c9dbca0a140a27741c15ec86e421fff6
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000380/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.09328373755440962,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.028847541981684405,
+                    0.13595343894164091
+                ],
+                "height": 0.15284162033823803,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1337726902124194,
+                    0.65
+                ],
+                "offset": [
+                    0.6494255269958207,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.8201832848780914,
+        -0.8192079155506399,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000382/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000382/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a595e57eeabae72065cf4fa9ce25c07b1e63eb95
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000382/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.02652662992209747,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03265166091255241,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1413921329802603,
+                    0.65
+                ],
+                "offset": [
+                    0.9293039335098698,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.0503137379958374,
+        -0.8475431031228667,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000384/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000384/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d9130f703cc3e143218b8f6c1573e0e0d53ff0b
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000384/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.09328373755440962,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.028847541981684405,
+                    0.13595343894164091
+                ],
+                "height": 0.15284162033823803,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.049796093135009,
+                    0.65
+                ],
+                "offset": [
+                    0.6074372284571155,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.6925372257667566,
+        -0.8119027700015267,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000395/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000395/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfef238b67109d7743294210a712f364b04e8311
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000395/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031881712773264896,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.025851805051372204,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.9251213549231947,
+                    0.65
+                ],
+                "offset": [
+                    -0.03743932253840265,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.0585477141821014,
+        -0.7876019356655697,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000398/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000398/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1d74e1db9f3610354d198dc8eb2dc4f1f742bb8
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000398/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03554726773009748,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.028232484551978864,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideL_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0066749506107866,
+                    0.65
+                ],
+                "offset": [
+                    0.3466625246946067,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.367895763046994,
+        -3.1995505037544008,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000399/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000399/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8e07be9db33b430811d942c3b93b33e3b2d3fd9
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000399/ep_meta.json
@@ -0,0 +1,526 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.10221856842815466,
+                    0.009326801919293137,
+                    0.01651991792833343
+                ],
+                "size": [
+                    0.027195377330544904,
+                    0.18344923964743354
+                ],
+                "height": 0.1596100543782548,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.7765202277450816,
+                    0.65
+                ],
+                "offset": [
+                    -0.23673988612745922,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.2373361574737571,
+        -0.8338384178440145,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000400/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000400/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b15e054c3a1cdb1446f6d60bad19e927549d27f
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000400/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.035579201562122555,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.028733252874573154,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.103746901332155,
+                    0.65
+                ],
+                "offset": [
+                    0.6344126325556885,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.8195644881542883,
+        -0.7696118667897334,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000404/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000404/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dee565f2900d7928011ff3af4d1ea4006c8804ef
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000404/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031881712773264896,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.025851805051372204,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.689790339440469,
+                    0.65
+                ],
+                "offset": [
+                    0.15510483027976552,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.2612683043292074,
+        -0.8172418451615784,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000405/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000405/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1506b97c1b98b60d44ff3aa55fd26052299cb111
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000405/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.09328373755440962,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.028847541981684405,
+                    0.13595343894164091
+                ],
+                "height": 0.15284162033823803,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5186754589841496,
+                    0.65
+                ],
+                "offset": [
+                    0.34187691138168574,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.5247697560915707,
+        -0.8129348752147052,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000406/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000406/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0621c2024c9948b3db7210ec9dc6e0c2180d0f3a
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000406/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8498561396235562,
+                    0.65
+                ],
+                "offset": [
+                    1.075071930188222,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.389009536919613,
+        -0.8196717757856985,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000410/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000410/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b7537c565ae5369bd43266a022fb2b1ef1f89be
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000410/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.6404603545491119,
+                    0.65
+                ],
+                "offset": [
+                    0.6797698227254441,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.7849140309529243,
+        -0.83633183864478,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000412/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000412/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a8aefad918d0c40f5b12f3d992cda4c34870cf0
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000412/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03130700270778182,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02869941581022102,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7870853006134126,
+                    0.65
+                ],
+                "offset": [
+                    0.6064573496932937,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.351769540401044,
+        -0.8216851580794713,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000418/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000418/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb3da52a87cf594b9854926083cc17977aa54f53
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000418/ep_meta.json
@@ -0,0 +1,595 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.02982321066322658,
+                    0.010383213268814154,
+                    0.02615959274445951
+                ],
+                "size": [
+                    0.02115128344402016,
+                    0.14512216743022704
+                ],
+                "height": 0.1339414845414603,
+                "name": "sideL_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7643963790341948,
+                    0.65
+                ],
+                "offset": [
+                    0.6178018104829026,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.58526437051243,
+        -2.28969120168942,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000419/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000419/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..324c423ef4a0ee4ab58d8138cbc29a0a9e2f2255
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000419/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.4634614654903455,
+                    0.65
+                ],
+                "offset": [
+                    -0.26826926725482725,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.385299129087734,
+        -3.435730834118924,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000421/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000421/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7793c709a557039fd6725ef0ee62987fee16aaca
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000421/ep_meta.json
@@ -0,0 +1,526 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.040552522034415554,
+                    0.009326801919293137,
+                    0.01651991792833343
+                ],
+                "size": [
+                    0.028743953796493357,
+                    0.18344923964743354
+                ],
+                "height": 0.1596100543782548,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.506706862561344,
+                    0.65
+                ],
+                "offset": [
+                    -0.371646568719328,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.2749122607893448,
+        -0.8148803217959405,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000423/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000423/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b9aeb528004fbd6545de5c78095782c590e73e6
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000423/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031881712773264896,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.025851805051372204,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.8536709004016183,
+                    0.65
+                ],
+                "offset": [
+                    -0.07316454979919085,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.027905509171895,
+        -0.7814024374293047,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000424/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000424/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9086dc11401d39f4e4f4e67ed206f4458fe46740
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000424/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.09108096735339122,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.02930905237664179,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7419434858248517,
+                    0.65
+                ],
+                "offset": [
+                    0.4535109248020368,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.463341418534992,
+        -0.782423765986645,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000426/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000426/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e00e5d41f16c3663a4f89245910d7641de8c5063
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000426/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.09254931675105743,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026799864262730955,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2525660599194965,
+                    0.65
+                ],
+                "offset": [
+                    0.2237169700402517,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.425826877112567,
+        -2.8904120022433126,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000430/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000430/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04f3fcea6e50de5086061e53a747c46ee262c9d1
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000430/ep_meta.json
@@ -0,0 +1,346 @@
+{
+    "layout_id": 1,
+    "style_id": 1,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.02653072560024173,
+                    0.0127435748637785,
+                    0.0026348939537400046
+                ],
+                "size": [
+                    0.033713449818154245,
+                    0.1615147360330983
+                ],
+                "height": 0.18441264609025854,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4500778960106595,
+                    0.65
+                ],
+                "offset": [
+                    -0.12496105199467022,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_3_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.81636756113242,
+        -0.845682793016653,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000432/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000432/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b8b8fe334bc97059e3a9f5de385b52b7e85042a
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000432/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.6321253255649495,
+                    0.65
+                ],
+                "offset": [
+                    0.18393733721752525,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.507535685922052,
+        -0.7580320363287226,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000436/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000436/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40ff3a9f9894ca7334334658dd8246b1945f1f72
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000436/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.09254931675105743,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026799864262730955,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3925240500390774,
+                    0.65
+                ],
+                "offset": [
+                    0.15373797498046127,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.407326200815925,
+        -2.9217305024144173,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000437/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000437/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c89d7f5045c8deac4b48a81d6c25b4f46ce6b31
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000437/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.09410521323402081,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026993811977440052,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
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+                    0.65
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+                "offset": [
+                    -0.23130419619676346,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.414172532145837,
+        -2.6172739216295744,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000441/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000441/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1819d9b4d19f5f77a83f50df45ed51b90c66a945
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000441/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5141115685399242,
+                    0.65
+                ],
+                "offset": [
+                    0.7429442157300379,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.312857197704376,
+        -0.796869377620776,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000442/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000442/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1361f5d8b334569b7ea9287d8fa40c3af5662ef4
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000442/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.03531483191495319,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026029727913659064,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2310674579771799,
+                    0.65
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+                "offset": [
+                    0.23446627101141004,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.3818041835983905,
+        -3.0432567475110766,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000443/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000443/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d68e9d04c4722466726d377b6046ab8a3360e217
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000443/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.8066945460522144,
+                    0.65
+                ],
+                "offset": [
+                    0.5966527269738928,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.8622431094293614,
+        -0.8299568936010935,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000444/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000444/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..891386ed3c8eae12512b1237438c521910b1c4d8
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000444/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.09410521323402081,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026993811977440052,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3891497029009645,
+                    0.65
+                ],
+                "offset": [
+                    0.15542514854951772,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.390072567080651,
+        -2.980514572868276,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000446/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000446/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2d123f5165312f9c1e39e21d6fb2fa6de6279d8
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000446/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.035579201562122555,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.028733252874573154,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8257310778235232,
+                    0.65
+                ],
+                "offset": [
+                    0.49540472080137254,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.6058375998742154,
+        -0.849495615997692,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000447/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000447/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..020397624699abe536c7a605159af9a6bbe7490b
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000447/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.866283255763828,
+                    0.65
+                ],
+                "offset": [
+                    0.566858372118086,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.3741468757476065,
+        -0.7969656888924855,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000448/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000448/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8e7f5ea57285db34727264bd87bc43f6e2bffca
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000448/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 6,
+    "style_id": 6,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.028459132261016255,
+                    0.037129040624751294,
+                    0.011430697797485241
+                ],
+                "size": [
+                    0.0351324449045298,
+                    0.1499395248423262
+                ],
+                "height": 0.1650935784551789,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.3123708706795858,
+                    0.65
+                ],
+                "offset": [
+                    0.0938145646602071,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "counter_corner_left_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.566607549386049,
+        -2.185510515883068,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000449/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000449/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f33e1da4f6eb6889c6a55e20299048a2b50115c
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000449/ep_meta.json
@@ -0,0 +1,346 @@
+{
+    "layout_id": 1,
+    "style_id": 1,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.02653072560024173,
+                    0.0127435748637785,
+                    0.0026348939537400046
+                ],
+                "size": [
+                    0.033713449818154245,
+                    0.1615147360330983
+                ],
+                "height": 0.18441264609025854,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.45455996895524087,
+                    0.65
+                ],
+                "offset": [
+                    0.12272001552237954,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_3_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.9639264034161497,
+        -0.8205734724867364,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000450/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000450/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba67b154812b50f981d1b613460e4da348b7d24f
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000450/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.09328373755440962,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.028847541981684405,
+                    0.13595343894164091
+                ],
+                "height": 0.15284162033823803,
+                "name": "sideR_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1469200258222065,
+                    0.65
+                ],
+                "offset": [
+                    0.6559991948007142,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.8516709422091795,
+        -0.7640058456369593,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000455/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000455/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0068e1bd5b450f5fabecea4c9c378cdf8c94c3d
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000455/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.486883266627152,
+                    0.65
+                ],
+                "offset": [
+                    0.756558366686424,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.811998629573764,
+        -0.761876677552401,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000458/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000458/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a427384900573a94de6496588fd28792fc509a61
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000458/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03554726773009748,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.028232484551978864,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideL_slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.067649632711677,
+                    0.65
+                ],
+                "offset": [
+                    -0.31617518364416153,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.3750860338550455,
+        -2.3454120059323116,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000459/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000459/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cb5f88c96d0e9cddc41abceae687d56181e8c85
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000459/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 6,
+    "style_id": 6,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.028459132261016255,
+                    0.037129040624751294,
+                    0.011430697797485241
+                ],
+                "size": [
+                    0.0351324449045298,
+                    0.1499395248423262
+                ],
+                "height": 0.1650935784551789,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4545164411363398,
+                    0.65
+                ],
+                "offset": [
+                    0.02274177943183009,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "counter_corner_left_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.5865829545286387,
+        -2.1710214515267214,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000460/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000460/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf43bf35c5149915adc2a2e47a12c3b998ff851c
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000460/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.3219074498438479,
+                    0.65
+                ],
+                "offset": [
+                    -0.839046275078076,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.4108722901569855,
+        -3.088420390262676,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000461/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000461/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14be7b183de9dc01f78fa6d4a3ab06239daa0631
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000461/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.320380479485432,
+                    0.65
+                ],
+                "offset": [
+                    0.33980976025728404,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.6133895157946823,
+        -0.8116841316828979,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000465/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000465/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e88fa61a1407ac8331a6a870004e0f7f22a5140
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000465/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.02652662992209747,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03265166091255241,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3768932728874255,
+                    0.65
+                ],
+                "offset": [
+                    0.8115533635562873,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.8641724214261433,
+        -0.764620384297686,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000467/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000467/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a2d6aa33ba0e0856bbefb24b2dbf82eaca61efe
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000467/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.9791348087215006,
+                    0.65
+                ],
+                "offset": [
+                    1.0104325956392497,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.2010907585545123,
+        -0.8407373115819702,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000471/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000471/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd4329e757ad95696fbccfa38f503ad84f5cd309
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000471/ep_meta.json
@@ -0,0 +1,346 @@
+{
+    "layout_id": 1,
+    "style_id": 1,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.024984576505869154,
+                    0.0127435748637785,
+                    0.0026348939537400046
+                ],
+                "size": [
+                    0.03374939816828608,
+                    0.1615147360330983
+                ],
+                "height": 0.18441264609025854,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.2968982552631638,
+                    0.65
+                ],
+                "offset": [
+                    0.20155087236841807,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_3_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.920592706056385,
+        -0.8346321766204761,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000479/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000479/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..079a95311318d8e4e7f1ad944c9918cf6eec1555
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000479/ep_meta.json
@@ -0,0 +1,427 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03130700270778182,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02869941581022102,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1871229590294048,
+                    0.65
+                ],
+                "offset": [
+                    -0.4064385204852976,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.404757263180279,
+        -3.386117538841613,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000485/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000485/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f481100d9c48b66097767d76ef7a37dadae9513
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000485/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.7989588337345355,
+                    0.65
+                ],
+                "offset": [
+                    0.10052058313273227,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.443997748062831,
+        -0.8433968451010289,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000486/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000486/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c057d1b1ff3a0a40d70356ec92c042cb67487275
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000486/ep_meta.json
@@ -0,0 +1,448 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.09108096735339122,
+                    0.01806913196713049,
+                    0.028441979553643023
+                ],
+                "size": [
+                    0.02930905237664179,
+                    0.13595343894164091
+                ],
+                "height": 0.15284149967403907,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.48344124032146873,
+                    0.65
+                ],
+                "offset": [
+                    0.3242598020503453,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.39085348503639,
+        -0.8422034775407217,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000488/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000488/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b407b92911952d7c73a9f8035eec69b35099b77
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000488/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031881712773264896,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.025851805051372204,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.808698380192241,
+                    0.65
+                ],
+                "offset": [
+                    -0.09565080990387953,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.1529022357704832,
+        -0.8153529208358516,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000492/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000492/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f49d1c6b91773e352f95f8859a2148104aef7f8
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000492/ep_meta.json
@@ -0,0 +1,526 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.10221856842815466,
+                    0.009326801919293137,
+                    0.01651991792833343
+                ],
+                "size": [
+                    0.027195377330544904,
+                    0.18344923964743354
+                ],
+                "height": 0.1596100543782548,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2471875139422308,
+                    0.65
+                ],
+                "offset": [
+                    -0.5014062430288846,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.0162265895838307,
+        -0.7853100780187005,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000496/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000496/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f3dc03b81bfa22e986263bca31c3d8e2b70fd82
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000496/ep_meta.json
@@ -0,0 +1,595 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.08177345483947249,
+                    0.010383213268814154,
+                    0.02615959274445951
+                ],
+                "size": [
+                    0.02242960297580228,
+                    0.14512216743022704
+                ],
+                "height": 0.1339414845414603,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.24720248007000004,
+                        0.24572606796000004,
+                        0.012934327725
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.30673427705465,
+                    0.65
+                ],
+                "offset": [
+                    0.346632861472675,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.603786610774479,
+        -2.000432144888952,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000497/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000497/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fff39e25557e2c17d9495b3a1489e9ac471b5314
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000497/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.031823352662456075,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02875772688742308,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotR"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7233036248159008,
+                    0.65
+                ],
+                "offset": [
+                    0.6383481875920496,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.200932651116136,
+        -0.791629494835433,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000502/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000502/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9780063fc5fffcd456cf0723b3e8bac17c95ffdb
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000502/ep_meta.json
@@ -0,0 +1,436 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03130700270778182,
+                    0.013665242337545028,
+                    0.010756426371985013
+                ],
+                "size": [
+                    0.02869941581022102,
+                    0.16749589405493812
+                ],
+                "height": 0.16681638449351818,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4966415462783198,
+                    0.65
+                ],
+                "offset": [
+                    0.7516792268608401,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.4350242708746785,
+        -0.7697917394672606,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000503/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000503/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a97cbac4fc063cfb169dff682b93113c287344d1
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000503/ep_meta.json
@@ -0,0 +1,520 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03187028954639773,
+                    0.010943150928497854,
+                    0.044498573225279434
+                ],
+                "size": [
+                    0.027585299458798236,
+                    0.1956707940418949
+                ],
+                "height": 0.13850158383495265,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.6139296904059464,
+                    0.65
+                ],
+                "offset": [
+                    -0.19303515479702682,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.021089706393499,
+        -0.7942577340686485,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000507/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000507/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..87c1dc8a903924eb55a8101a481219d8618bf007
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000507/ep_meta.json
@@ -0,0 +1,406 @@
+{
+    "layout_id": 3,
+    "style_id": 3,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_right_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.09254931675105743,
+                    0.014421792675579633,
+                    0.019146672466695616
+                ],
+                "size": [
+                    0.026799864262730955,
+                    0.141706437824761
+                ],
+                "height": 0.1497362849881217,
+                "name": "sideL_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_2_right_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_right_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1005146070238767,
+                    0.65
+                ],
+                "offset": [
+                    0.2997426964880616,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_2_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.385213101162334,
+        -2.924238264776671,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000508/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000508/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7352b445a76905702beb4044143c28d0d1b6e44
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000508/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.027468195221403726,
+                    0.025205673868760478,
+                    0.01695413500585081
+                ],
+                "size": [
+                    0.03266905622855395,
+                    0.17704037528781563
+                ],
+                "height": 0.183744825033606,
+                "name": "slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.247940875935,
+                        0.24539034402000004,
+                        0.01667049282
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.111518683277973,
+                    0.65
+                ],
+                "offset": [
+                    0.9442406583610135,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.076516368069871,
+        -0.8169336990811555,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000509/ep_meta.json b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000509/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4963fc995d7e41e8617ad2cdf8eb9c60daf6249a
--- /dev/null
+++ b/target/atomic/PickPlaceToasterToCounter/20250817/lerobot/extras/episode_000509/ep_meta.json
@@ -0,0 +1,526 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "sandwich_bread"
+            ],
+            "rotate_upright": true,
+            "placement": {
+                "fixture": "toaster_main_group",
+                "rotation": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "sandwich_bread"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.040552522034415554,
+                    0.009326801919293137,
+                    0.01651991792833343
+                ],
+                "size": [
+                    0.028743953796493357,
+                    0.18344923964743354
+                ],
+                "height": 0.1596100543782548,
+                "name": "sideR_slotL"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "toaster_main_group",
+                    "min_size": [
+                        0.24568749157499997,
+                        0.24474791709000002,
+                        0.03850276869
+                    ]
+                },
+                "size": [
+                    0.8,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.7953951429503165,
+                    0.65
+                ],
+                "offset": [
+                    -0.22730242852484173,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the toasted item on a plate.",
+    "fixture_refs": {
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.302940788613318,
+        -0.7629380914179249,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file