diff --git a/images/observation.images.front/episode_000008/frame_000000.png b/images/observation.images.front/episode_000008/frame_000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fbff6f42281497584f2861be8b432eb954ead02b
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000000.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000001.png b/images/observation.images.front/episode_000008/frame_000001.png
new file mode 100644
index 0000000000000000000000000000000000000000..8433b496b19888293330725f23b3ac4c348f3f97
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000001.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000002.png b/images/observation.images.front/episode_000008/frame_000002.png
new file mode 100644
index 0000000000000000000000000000000000000000..78280ba07f284eed2913ecfd93769046461affb2
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000002.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000003.png b/images/observation.images.front/episode_000008/frame_000003.png
new file mode 100644
index 0000000000000000000000000000000000000000..27b1c938b877bba89b5cf775cca887b485d8d092
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000003.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000004.png b/images/observation.images.front/episode_000008/frame_000004.png
new file mode 100644
index 0000000000000000000000000000000000000000..516a4d560b447d84a89480b8055f8dfc28139442
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000004.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000005.png b/images/observation.images.front/episode_000008/frame_000005.png
new file mode 100644
index 0000000000000000000000000000000000000000..826f450237a222b613e54a03332bebb469fe05ac
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000005.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000006.png b/images/observation.images.front/episode_000008/frame_000006.png
new file mode 100644
index 0000000000000000000000000000000000000000..21ad0392b36de1aa47c71f366c3a7a05cc353bf3
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000006.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000007.png b/images/observation.images.front/episode_000008/frame_000007.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c9e91ccef9f2723ce700767c122e5e17aadaa63
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000007.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000008.png b/images/observation.images.front/episode_000008/frame_000008.png
new file mode 100644
index 0000000000000000000000000000000000000000..9018d45d948eb095fa6a7f8b6f0319e2414d9efc
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000008.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000009.png b/images/observation.images.front/episode_000008/frame_000009.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce4d8265d7cd2f02620e3e48731cd18ef17463ad
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000009.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000010.png b/images/observation.images.front/episode_000008/frame_000010.png
new file mode 100644
index 0000000000000000000000000000000000000000..03355b592e96aa2ef02a789cc4f040bbe2eaa802
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000010.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000011.png b/images/observation.images.front/episode_000008/frame_000011.png
new file mode 100644
index 0000000000000000000000000000000000000000..33ab9602746944d8aa2100e8857f761d4bf541a8
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000011.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000012.png b/images/observation.images.front/episode_000008/frame_000012.png
new file mode 100644
index 0000000000000000000000000000000000000000..404d3bf4a0b8f9b31c91660cf29d9ec583769390
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000012.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000013.png b/images/observation.images.front/episode_000008/frame_000013.png
new file mode 100644
index 0000000000000000000000000000000000000000..f62e977730d615984a82cddfe3318008e6da274f
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000013.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000014.png b/images/observation.images.front/episode_000008/frame_000014.png
new file mode 100644
index 0000000000000000000000000000000000000000..48b338daf0c385ef41d79151fdbeb8ff479f7fff
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000014.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000015.png b/images/observation.images.front/episode_000008/frame_000015.png
new file mode 100644
index 0000000000000000000000000000000000000000..1dcce365f0d68191cd4331614e17cbdf67e1a46f
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000015.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000016.png b/images/observation.images.front/episode_000008/frame_000016.png
new file mode 100644
index 0000000000000000000000000000000000000000..100a8793e777e1ded50a5e2841f5db1f1a084cb9
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000016.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000017.png b/images/observation.images.front/episode_000008/frame_000017.png
new file mode 100644
index 0000000000000000000000000000000000000000..f295d84ea5d142bc4b3303e614b182f87d417741
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000017.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000018.png b/images/observation.images.front/episode_000008/frame_000018.png
new file mode 100644
index 0000000000000000000000000000000000000000..3eb2a8a6c2adde14a7365f52da44043be0e2f533
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000018.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000019.png b/images/observation.images.front/episode_000008/frame_000019.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0076c4d5060fb856bd6a0d057421dc89e4ce984
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000019.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000020.png b/images/observation.images.front/episode_000008/frame_000020.png
new file mode 100644
index 0000000000000000000000000000000000000000..c254b07c421e9f5f111e549621b45e9f56feb78f
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000020.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000021.png b/images/observation.images.front/episode_000008/frame_000021.png
new file mode 100644
index 0000000000000000000000000000000000000000..2235ee86889961591f947b152da37e42d1080782
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000021.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000022.png b/images/observation.images.front/episode_000008/frame_000022.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c57a7a70a843804076c367a214235bf49daa3aa
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000022.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000023.png b/images/observation.images.front/episode_000008/frame_000023.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f204ac2ad827099a7cfee82b69f28d4f998c156
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000023.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000024.png b/images/observation.images.front/episode_000008/frame_000024.png
new file mode 100644
index 0000000000000000000000000000000000000000..cedafafff7e45c414f16627049e352da61cfd85b
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000024.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000025.png b/images/observation.images.front/episode_000008/frame_000025.png
new file mode 100644
index 0000000000000000000000000000000000000000..2749ab7de85bc722c2b1d7b8b19fe0a8d61d972a
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000025.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000026.png b/images/observation.images.front/episode_000008/frame_000026.png
new file mode 100644
index 0000000000000000000000000000000000000000..d543b4ba5a4f1feb731e18fd85010a8e07c4862e
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000026.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000027.png b/images/observation.images.front/episode_000008/frame_000027.png
new file mode 100644
index 0000000000000000000000000000000000000000..1266819a3f1e24ebb9d2afb31031306749f48a92
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000027.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000028.png b/images/observation.images.front/episode_000008/frame_000028.png
new file mode 100644
index 0000000000000000000000000000000000000000..0642c318be07a62752a8376deb2b16ee8fabe46a
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000028.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000029.png b/images/observation.images.front/episode_000008/frame_000029.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9dc3a36c316eaa423da7f4cc490e0404ca49c67
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000029.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000030.png b/images/observation.images.front/episode_000008/frame_000030.png
new file mode 100644
index 0000000000000000000000000000000000000000..48c6d46e26a8f58e2497de4a43c0333267b36c60
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000030.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000031.png b/images/observation.images.front/episode_000008/frame_000031.png
new file mode 100644
index 0000000000000000000000000000000000000000..915bf385c656d0ec15c30f4ada0b50eb3872a49c
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000031.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000032.png b/images/observation.images.front/episode_000008/frame_000032.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1df8ee3804b11fa87bffe2cbb3504c0db935546
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000032.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000033.png b/images/observation.images.front/episode_000008/frame_000033.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e67cd929880d32ed2bef89ea84e7592634e4d49
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000033.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000034.png b/images/observation.images.front/episode_000008/frame_000034.png
new file mode 100644
index 0000000000000000000000000000000000000000..e404372f237e54ce9aed37b0f998ed3d9f464eb7
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000034.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000035.png b/images/observation.images.front/episode_000008/frame_000035.png
new file mode 100644
index 0000000000000000000000000000000000000000..09fed0e0414fc85325246d274dd4f505ee72d41b
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000035.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000036.png b/images/observation.images.front/episode_000008/frame_000036.png
new file mode 100644
index 0000000000000000000000000000000000000000..4010c41302e4fc4ccfba9f569ae19ba46f406881
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000036.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000037.png b/images/observation.images.front/episode_000008/frame_000037.png
new file mode 100644
index 0000000000000000000000000000000000000000..16f74ef7129d6934d3458a37a35d90319bcd6eba
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000037.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000038.png b/images/observation.images.front/episode_000008/frame_000038.png
new file mode 100644
index 0000000000000000000000000000000000000000..a77b63ff5db5c893c05c4ae46eab19a72d3dfad3
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000038.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000039.png b/images/observation.images.front/episode_000008/frame_000039.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c011bb308ff4b88ef80e264a72bd664ac716648
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000039.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000040.png b/images/observation.images.front/episode_000008/frame_000040.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf16aeb8c6834ea1c05ad42bd1a3681870a413d2
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000040.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000041.png b/images/observation.images.front/episode_000008/frame_000041.png
new file mode 100644
index 0000000000000000000000000000000000000000..77c2c7d75cc3401c9d8acc30840d187aa1fcf357
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000041.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000042.png b/images/observation.images.front/episode_000008/frame_000042.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4609f8b691a99a0c44845b52d9c548553ccec67
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000042.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000043.png b/images/observation.images.front/episode_000008/frame_000043.png
new file mode 100644
index 0000000000000000000000000000000000000000..858ae7ceb764df0e6c7141ea2042ec83492523de
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000043.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000044.png b/images/observation.images.front/episode_000008/frame_000044.png
new file mode 100644
index 0000000000000000000000000000000000000000..25b3052d6dbd637922818381d032eebbd8cd3ee8
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000044.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000045.png b/images/observation.images.front/episode_000008/frame_000045.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a4df53978abfbf5266b5af84a4be18ba5f95176
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000045.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000046.png b/images/observation.images.front/episode_000008/frame_000046.png
new file mode 100644
index 0000000000000000000000000000000000000000..fee133a5f6b24482583e3a4b21ba6b7e4334019b
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000046.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000047.png b/images/observation.images.front/episode_000008/frame_000047.png
new file mode 100644
index 0000000000000000000000000000000000000000..ecceab0ff9608feedaec490a2e42923d78dc13a7
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000047.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000048.png b/images/observation.images.front/episode_000008/frame_000048.png
new file mode 100644
index 0000000000000000000000000000000000000000..459ad4938f9bff289a1d742bc3cdf0eb625c0cf1
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000048.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000049.png b/images/observation.images.front/episode_000008/frame_000049.png
new file mode 100644
index 0000000000000000000000000000000000000000..09b284f25536eac6d08d5d46a2871f520dc8fdc2
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000049.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000050.png b/images/observation.images.front/episode_000008/frame_000050.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ae499f8d9da48e0f1726725cb4ad9a7026b8562
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000050.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000051.png b/images/observation.images.front/episode_000008/frame_000051.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5b2b13debe1811e2b056dd4281e5de6eccc142a
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000051.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000052.png b/images/observation.images.front/episode_000008/frame_000052.png
new file mode 100644
index 0000000000000000000000000000000000000000..9df3d795c96c05cfb1c02e5d8bd496fa8a7ae228
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000052.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000053.png b/images/observation.images.front/episode_000008/frame_000053.png
new file mode 100644
index 0000000000000000000000000000000000000000..93dab241558094bb1748b320bbd9594863ba31d5
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000053.png differ
diff --git a/images/observation.images.front/episode_000008/frame_000054.png b/images/observation.images.front/episode_000008/frame_000054.png
new file mode 100644
index 0000000000000000000000000000000000000000..c14e76d22d00009694e9bddb46aeeecdf82e0f83
Binary files /dev/null and b/images/observation.images.front/episode_000008/frame_000054.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000000.png b/images/observation.images.wrist/episode_000008/frame_000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..931269fa4a995148efb36626eb19a8e9cf0508c9
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000000.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000001.png b/images/observation.images.wrist/episode_000008/frame_000001.png
new file mode 100644
index 0000000000000000000000000000000000000000..2326443efd2213a3006252c067ab77f865b5c675
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000001.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000002.png b/images/observation.images.wrist/episode_000008/frame_000002.png
new file mode 100644
index 0000000000000000000000000000000000000000..1483fd7c64bc0dd6f9bcbd899f4c4f7ea4791ea3
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000002.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000003.png b/images/observation.images.wrist/episode_000008/frame_000003.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e6385591bb8221f6f80dc037c51a25af12786a1
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000003.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000004.png b/images/observation.images.wrist/episode_000008/frame_000004.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdc1eb2992b75a4eb6cfa54d4d862552cef4c148
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000004.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000005.png b/images/observation.images.wrist/episode_000008/frame_000005.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3e11da0d0388b49f7ea93f02ae5f4531763ec85
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000005.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000006.png b/images/observation.images.wrist/episode_000008/frame_000006.png
new file mode 100644
index 0000000000000000000000000000000000000000..eee46934c85b5147c2cc289b5afe3ca1c1bd1b20
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000006.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000007.png b/images/observation.images.wrist/episode_000008/frame_000007.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9cc17bb22bcc5d6a03533517783599280a07465
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000007.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000008.png b/images/observation.images.wrist/episode_000008/frame_000008.png
new file mode 100644
index 0000000000000000000000000000000000000000..c143e5fa5d3e78fc35b709f3e032638edc6a10ff
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000008.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000009.png b/images/observation.images.wrist/episode_000008/frame_000009.png
new file mode 100644
index 0000000000000000000000000000000000000000..c31216ffac5c97eb74011695fabd4be24f19be51
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000009.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000010.png b/images/observation.images.wrist/episode_000008/frame_000010.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b754be85d1934d49af50743adfdae89fbcc8b7e
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000010.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000011.png b/images/observation.images.wrist/episode_000008/frame_000011.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fb0151c08a7792ee250024e00bd49100e7144f2
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000011.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000012.png b/images/observation.images.wrist/episode_000008/frame_000012.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000012.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000013.png b/images/observation.images.wrist/episode_000008/frame_000013.png
new file mode 100644
index 0000000000000000000000000000000000000000..65f54248a5b9d194e15d1f6d8d4ee2883fd854d3
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000013.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000014.png b/images/observation.images.wrist/episode_000008/frame_000014.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000014.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000015.png b/images/observation.images.wrist/episode_000008/frame_000015.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000015.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000016.png b/images/observation.images.wrist/episode_000008/frame_000016.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000016.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000017.png b/images/observation.images.wrist/episode_000008/frame_000017.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000017.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000018.png b/images/observation.images.wrist/episode_000008/frame_000018.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000018.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000019.png b/images/observation.images.wrist/episode_000008/frame_000019.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000019.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000020.png b/images/observation.images.wrist/episode_000008/frame_000020.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000020.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000021.png b/images/observation.images.wrist/episode_000008/frame_000021.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000021.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000022.png b/images/observation.images.wrist/episode_000008/frame_000022.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000022.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000023.png b/images/observation.images.wrist/episode_000008/frame_000023.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000023.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000024.png b/images/observation.images.wrist/episode_000008/frame_000024.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000024.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000025.png b/images/observation.images.wrist/episode_000008/frame_000025.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000025.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000026.png b/images/observation.images.wrist/episode_000008/frame_000026.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000026.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000027.png b/images/observation.images.wrist/episode_000008/frame_000027.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000027.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000028.png b/images/observation.images.wrist/episode_000008/frame_000028.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000028.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000029.png b/images/observation.images.wrist/episode_000008/frame_000029.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000029.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000030.png b/images/observation.images.wrist/episode_000008/frame_000030.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000030.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000031.png b/images/observation.images.wrist/episode_000008/frame_000031.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000031.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000032.png b/images/observation.images.wrist/episode_000008/frame_000032.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000032.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000033.png b/images/observation.images.wrist/episode_000008/frame_000033.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000033.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000034.png b/images/observation.images.wrist/episode_000008/frame_000034.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000034.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000035.png b/images/observation.images.wrist/episode_000008/frame_000035.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000035.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000036.png b/images/observation.images.wrist/episode_000008/frame_000036.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000036.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000037.png b/images/observation.images.wrist/episode_000008/frame_000037.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000037.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000038.png b/images/observation.images.wrist/episode_000008/frame_000038.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000038.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000039.png b/images/observation.images.wrist/episode_000008/frame_000039.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000039.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000040.png b/images/observation.images.wrist/episode_000008/frame_000040.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000040.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000041.png b/images/observation.images.wrist/episode_000008/frame_000041.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000041.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000042.png b/images/observation.images.wrist/episode_000008/frame_000042.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000042.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000043.png b/images/observation.images.wrist/episode_000008/frame_000043.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000043.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000044.png b/images/observation.images.wrist/episode_000008/frame_000044.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000044.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000045.png b/images/observation.images.wrist/episode_000008/frame_000045.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000045.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000046.png b/images/observation.images.wrist/episode_000008/frame_000046.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000046.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000047.png b/images/observation.images.wrist/episode_000008/frame_000047.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000047.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000048.png b/images/observation.images.wrist/episode_000008/frame_000048.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000048.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000049.png b/images/observation.images.wrist/episode_000008/frame_000049.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000049.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000050.png b/images/observation.images.wrist/episode_000008/frame_000050.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000050.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000051.png b/images/observation.images.wrist/episode_000008/frame_000051.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000051.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000052.png b/images/observation.images.wrist/episode_000008/frame_000052.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000052.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000053.png b/images/observation.images.wrist/episode_000008/frame_000053.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000053.png differ
diff --git a/images/observation.images.wrist/episode_000008/frame_000054.png b/images/observation.images.wrist/episode_000008/frame_000054.png
new file mode 100644
index 0000000000000000000000000000000000000000..1006e7935d85ee3b6338200ec76f4641ea124411
Binary files /dev/null and b/images/observation.images.wrist/episode_000008/frame_000054.png differ
diff --git a/meta/episodes.jsonl b/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..75f97614586cd7ee182401ccb9ec3ec482c3cba8
--- /dev/null
+++ b/meta/episodes.jsonl
@@ -0,0 +1,8 @@
+{"episode_index": 0, "tasks": ["PandaPickCubeKeyboard-v0"], "length": 100}
+{"episode_index": 1, "tasks": ["PandaPickCubeKeyboard-v0"], "length": 100}
+{"episode_index": 2, "tasks": ["PandaPickCubeKeyboard-v0"], "length": 100}
+{"episode_index": 3, "tasks": ["PandaPickCubeKeyboard-v0"], "length": 100}
+{"episode_index": 4, "tasks": ["PandaPickCubeKeyboard-v0"], "length": 100}
+{"episode_index": 5, "tasks": ["PandaPickCubeKeyboard-v0"], "length": 100}
+{"episode_index": 6, "tasks": ["PandaPickCubeKeyboard-v0"], "length": 100}
+{"episode_index": 7, "tasks": ["PandaPickCubeKeyboard-v0"], "length": 100}
diff --git a/meta/episodes_stats.jsonl b/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..459a400a803bac0a6c364a6ed80cf8dfb11f7672
--- /dev/null
+++ b/meta/episodes_stats.jsonl
@@ -0,0 +1,8 @@
+{"episode_index": 0, "stats": {"observation.state": {"min": [-0.00017917020886670798, 0.08228782564401627, -0.0005032371263951063, -2.600306272506714, -0.00048048055032268167, 2.537410259246826, 0.7851299047470093, -0.0015912618255242705, -0.3901616334915161, -0.001802103128284216, -0.5786916017532349, -0.0029235458932816982, -0.23917683959007263, -0.0006795887020416558, 0.0, 0.440256804227829, -2.8656739232246764e-05, 0.0600472167134285], "max": [0.0005269993562251329, 0.28859061002731323, 0.00010543219104874879, -2.3455615043640137, 0.0006066833157092333, 2.682586908340454, 0.7854453921318054, 0.0020560903940349817, 0.41563284397125244, 0.0015027656918391585, 0.5953561067581177, 0.0022226274013519287, 0.367973268032074, 0.001441866043023765, 0.0, 0.5163658857345581, 1.4079172615311109e-05, 0.10264726728200912], "mean": [0.00015521411842200905, 0.1887909471988678, -0.00015109273954294622, -2.4341254234313965, 6.848901830380782e-05, 2.6229424476623535, 0.7853529453277588, 2.437695366097614e-05, 0.008518160320818424, -2.4633249267935753e-05, 0.007328510750085115, -1.7879192455438897e-05, 0.0007911758148111403, 1.7091242625610903e-05, 0.0, 0.4900360107421875, 1.2022147188872623e-07, 0.07933484762907028], "std": [0.00014414852194022387, 0.04843926429748535, 0.00013338633289095014, 0.07698652148246765, 0.0001593470515217632, 0.03373105078935623, 5.476345540955663e-05, 0.00044536235509440303, 0.09895972162485123, 0.0003683757095132023, 0.11684323102235794, 0.0006132753915153444, 0.0665571540594101, 0.00024084700271487236, 0.0, 0.022889425978064537, 5.280434379528742e-06, 0.0066136703826487064], "count": [100]}, "action": {"min": [-1.0, 0.0, -1.0, 0.0], "max": [1.0, 0.0, 1.0, 1.0], "mean": [0.009999999776482582, 0.0, -0.009999999776482582, 0.699999988079071], "std": [0.2233831286430359, 0.0, 0.17291615903377533, 0.45825761556625366], "count": [100]}, "next.reward": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [100]}, "next.done": {"min": [false], "max": [true], "mean": [0.01], "std": [0.09949874371066199], "count": [100]}, "complementary_info.discrete_penalty": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [100]}, "observation.images.front": {"min": [[[0.06666666666666667]], [[0.09019607843137255]], [[0.09019607843137255]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2675474853515625]], [[0.3838704139859068]], [[0.5019429476868873]]], "std": [[[0.21504150942093458]], [[0.19514656447909692]], [[0.19318212792415235]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[0.8823529411764706]], [[1.0]]], "mean": [[[0.2700043490540748]], [[0.38514610619638484]], [[0.5527158394607843]]], "std": [[[0.1947299660518774]], [[0.13290873209312412]], [[0.19444146715194469]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.9], "mean": [4.95], "std": [2.8866070047722117], "count": [100]}, "frame_index": {"min": [0], "max": [99], "mean": [49.5], "std": [28.86607004772212], "count": [100]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [100]}, "index": {"min": [0], "max": [99], "mean": [49.5], "std": [28.86607004772212], "count": [100]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [100]}}}
+{"episode_index": 1, "stats": {"observation.state": {"min": [3.234262112528086e-05, 0.19318938255310059, -5.037839582655579e-05, -2.434359550476074, -1.4421689229493495e-05, 2.622762441635132, 0.7851299047470093, -8.527136742486618e-06, -0.008256354369223118, -0.0002517805260140449, -0.01963755302131176, -0.00014417576312553138, -0.0006507524522021413, -3.0219363907235675e-05, 0.0, 0.4901766777038574, -1.2203799997223541e-06, 0.07762986421585083], "max": [5.121998765389435e-05, 0.19427573680877686, -2.9736342185060494e-05, -2.431734085083008, 1.906203578982968e-05, 2.6276800632476807, 0.7853871583938599, 0.0002829808508977294, 0.0007536289631389081, 1.2975092431588564e-05, 7.6117330536362715e-06, 0.00011959959374507889, 0.030499959364533424, 0.001441866043023765, 255.0, 0.49034667015075684, 3.85787402024107e-08, 0.07770387828350067], "mean": [4.935502875014208e-05, 0.19327665865421295, -4.729497595690191e-05, -2.434309959411621, 1.7117487004725263e-05, 2.6275222301483154, 0.7853794693946838, 3.346608082210878e-06, -0.00013600567763205618, -3.030640073120594e-06, -0.0003772814234253019, 3.416021399971214e-06, 0.0006432984955608845, 3.292660403531045e-05, 99.44999694824219, 0.49028319120407104, -3.748711918660774e-08, 0.07764627784490585], "std": [1.755804419190099e-06, 0.00010967181879095733, 1.8517398530093487e-06, 0.0002883010602090508, 5.649054401146714e-06, 0.0005582196172326803, 3.0035671443329193e-05, 2.8910042601637542e-05, 0.0009272397146560252, 2.5886080038617365e-05, 0.002221990143880248, 2.3314170903177e-05, 0.003581390017643571, 0.00017400432261638343, 124.37620544433594, 1.8364140487392433e-05, 1.698727771781705e-07, 6.447618034144398e-06], "count": [100]}, "action": {"min": [0.0, 0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0, 2.0], "mean": [0.0, 0.0, 0.0, 0.75], "std": [0.0, 0.0, 0.0, 0.8411301970481873], "count": [100]}, "next.reward": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [100]}, "next.done": {"min": [false], "max": [true], "mean": [0.01], "std": [0.09949874371066199], "count": [100]}, "complementary_info.discrete_penalty": {"min": [-0.019999999552965164], "max": [0.0], "mean": [-0.00019999999494757503], "std": [0.0019899746403098106], "count": [100]}, "observation.images.front": {"min": [[[0.06666666666666667]], [[0.08627450980392157]], [[0.08627450980392157]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2676980243757659]], [[0.384099791283701]], [[0.5022688993566176]]], "std": [[[0.21504593438052513]], [[0.19504124257450242]], [[0.193016909221554]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[0.9764705882352941]], [[0.6588235294117647]], [[0.9764705882352941]]], "mean": [[[0.2680086119408701]], [[0.3805671626072304]], [[0.5457353491689644]]], "std": [[[0.1970445977083202]], [[0.1351005645663183]], [[0.20173896081198145]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.9], "mean": [4.95], "std": [2.8866070047722117], "count": [100]}, "frame_index": {"min": [0], "max": [99], "mean": [49.5], "std": [28.86607004772212], "count": [100]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [100]}, "index": {"min": [100], "max": [199], "mean": [149.5], "std": [28.86607004772212], "count": [100]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [100]}}}
+{"episode_index": 2, "stats": {"observation.state": {"min": [-0.00010602910333545879, 0.1932610720396042, -0.002191506791859865, -2.4343578815460205, -0.005255032330751419, 2.622762441635132, 0.7814509868621826, -0.002411607652902603, -0.14540623128414154, -0.0035429662093520164, -0.031357236206531525, -0.011712953448295593, -0.09435126185417175, -0.00792901124805212, 0.0, 0.48685336112976074, -0.0009207638795487583, 0.0033694275189191103], "max": [0.0008627239731140435, 0.3894403576850891, -3.6516075851977803e-06, -2.403632640838623, 0.0036347333807498217, 2.8406717777252197, 0.7947056293487549, 0.002797371707856655, 0.5416322946548462, 0.002141239820048213, 0.08228714019060135, 0.01524208951741457, 0.43073874711990356, 0.0208742693066597, 255.0, 0.5093262195587158, 2.4424592903748987e-10, 0.07764618843793869], "mean": [0.00012012015940854326, 0.2610405385494232, -0.0002892216434702277, -2.4260706901550293, -0.00026274577248841524, 2.692319869995117, 0.785641074180603, 4.171017644694075e-05, 0.014469435438513756, -0.000142729957588017, 0.0022190718445926905, 0.0003877296403516084, 0.018235109746456146, 0.0010295551037415862, 48.45000076293945, 0.4918961226940155, -0.00010784460027934983, 0.05274234712123871], "std": [0.00021366194414440542, 0.08888611942529678, 0.0005757783073931932, 0.011094956658780575, 0.001201807172037661, 0.08559152483940125, 0.0018308998551219702, 0.0006306457216851413, 0.08328617364168167, 0.0006750683533027768, 0.012193708680570126, 0.00376557232812047, 0.06817042827606201, 0.004944330547004938, 100.03672790527344, 0.004722539335489273, 0.00024950792430900037, 0.032730184495449066], "count": [100]}, "action": {"min": [0.0, 0.0, -1.0, 0.0], "max": [0.0, 0.0, 0.0, 2.0], "mean": [0.0, 0.0, -0.3799999952316284, 0.800000011920929], "std": [0.0, 0.0, 0.4853864312171936, 0.7348470091819763], "count": [100]}, "next.reward": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [100]}, "next.done": {"min": [false], "max": [true], "mean": [0.01], "std": [0.09949874371066199], "count": [100]}, "complementary_info.discrete_penalty": {"min": [-0.019999999552965164], "max": [0.0], "mean": [-0.00019999999494757503], "std": [0.0019899746403098106], "count": [100]}, "observation.images.front": {"min": [[[0.06666666666666667]], [[0.08235294117647059]], [[0.08235294117647059]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.27049473900888477]], [[0.3864616866766238]], [[0.5041734499463848]]], "std": [[[0.21813024782334337]], [[0.19741807729148494]], [[0.19437498060779906]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[0.9764705882352941]], [[0.6941176470588235]], [[0.9764705882352941]]], "mean": [[[0.2675724858302696]], [[0.3668443076937806]], [[0.5308359542547487]]], "std": [[[0.19991381038346204]], [[0.13280886758339389]], [[0.19639907879567192]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.9], "mean": [4.95], "std": [2.8866070047722117], "count": [100]}, "frame_index": {"min": [0], "max": [99], "mean": [49.5], "std": [28.86607004772212], "count": [100]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [100]}, "index": {"min": [200], "max": [299], "mean": [249.5], "std": [28.86607004772212], "count": [100]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [100]}}}
+{"episode_index": 3, "stats": {"observation.state": {"min": [-0.0001059568821801804, 0.1932610720396042, -0.00042419572127982974, -2.4343578815460205, -0.0008240770548582077, 2.622762441635132, 0.7850884199142456, -0.002411654219031334, -0.053458552807569504, -0.002058750716969371, -0.01963755302131176, -0.00454402482137084, -0.04747464507818222, -0.003848434891551733, 0.0, 0.48685336112976074, -9.031982335727662e-05, 0.0033694272860884666], "max": [0.0004265757161192596, 0.3894403576850891, -3.713426849571988e-06, -2.4109179973602295, 1.864384648797568e-05, 2.806319236755371, 0.7858173847198486, 0.0008832694147713482, 0.5416322946548462, 0.002141296397894621, 0.08228714019060135, 0.0004114810726605356, 0.43073874711990356, 0.0025668474845588207, 255.0, 0.49271097779273987, 2.4424592903748987e-10, 0.07764618843793869], "mean": [4.405909203342162e-05, 0.23440170288085938, -6.139679317129776e-05, -2.429860830307007, -8.387068373849615e-05, 2.663869857788086, 0.7853858470916748, -1.4994975572335534e-05, 0.014890175312757492, -3.1150179324868077e-07, 0.0013472774298861623, -0.00010679017577785999, 0.014344987459480762, 3.8965954445302486e-05, 10.199999809265137, 0.49015504121780396, -1.1522084605530836e-05, 0.062088847160339355], "std": [7.817753794370219e-05, 0.07790184766054153, 6.71813395456411e-05, 0.008600526489317417, 0.00020163660519756377, 0.06905695050954819, 8.610101940575987e-05, 0.000355769123416394, 0.08155594021081924, 0.00035137045779265463, 0.01128564402461052, 0.0005455628270283341, 0.06673650443553925, 0.0005530783091671765, 49.9695930480957, 0.0007530519505962729, 2.2281961719272658e-05, 0.029431845992803574], "count": [100]}, "action": {"min": [0.0, 0.0, -1.0, 0.0], "max": [0.0, 0.0, 0.0, 2.0], "mean": [0.0, 0.0, -0.23000000417232513, 0.30000001192092896], "std": [0.0, 0.0, 0.4208325445652008, 0.5385164618492126], "count": [100]}, "next.reward": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [100]}, "next.done": {"min": [false], "max": [true], "mean": [0.01], "std": [0.09949874371066199], "count": [100]}, "complementary_info.discrete_penalty": {"min": [-0.019999999552965164], "max": [0.0], "mean": [-0.00019999999494757503], "std": [0.0019899746403098106], "count": [100]}, "observation.images.front": {"min": [[[0.06666666666666667]], [[0.08235294117647059]], [[0.08235294117647059]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2693167963962929]], [[0.38541906498927697]], [[0.5032810920266545]]], "std": [[[0.21684479608372664]], [[0.19641871900952906]], [[0.19378237684845137]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[0.9764705882352941]], [[0.6941176470588235]], [[0.9764705882352941]]], "mean": [[[0.2696538516773897]], [[0.3720760617723652]], [[0.537550812365962]]], "std": [[[0.20226286624380577]], [[0.13117789485371112]], [[0.19534997046150326]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.9], "mean": [4.95], "std": [2.8866070047722117], "count": [100]}, "frame_index": {"min": [0], "max": [99], "mean": [49.5], "std": [28.86607004772212], "count": [100]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [100]}, "index": {"min": [300], "max": [399], "mean": [349.5], "std": [28.86607004772212], "count": [100]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [100]}}}
+{"episode_index": 4, "stats": {"observation.state": {"min": [-0.00010596957145025954, 0.1932610720396042, -0.0016015691217035055, -2.4343578815460205, -0.005262788850814104, 2.622762441635132, 0.781470000743866, -0.002411646069958806, -0.14549972116947174, -0.003527642460539937, -0.031418778002262115, -0.011734506115317345, -0.09455671161413193, -0.00793509278446436, 0.0, 0.48685336112976074, -0.0006619053892791271, 0.0033694272860884666], "max": [0.0008467092993669212, 0.3894403576850891, -3.702562253238284e-06, -2.410353183746338, 1.863698889792431e-05, 2.8122565746307373, 0.7858303785324097, 0.0015855288365855813, 0.5416322946548462, 0.0021412863861769438, 0.08228714019060135, 0.011910943314433098, 0.43073874711990356, 0.016079360619187355, 255.0, 0.5011985301971436, 2.4424592903748987e-10, 0.07764618843793869], "mean": [8.30691060400568e-05, 0.2388554960489273, -0.0001363830961054191, -2.4291884899139404, -0.0003107441298197955, 2.6691958904266357, 0.7852497696876526, 8.134836207318585e-06, 0.013576383702456951, -9.079596202354878e-05, 0.0015787604497745633, -0.0003973107668571174, 0.015509859658777714, -0.0001439863845007494, 28.049999237060547, 0.49064332246780396, -3.590828782762401e-05, 0.0605878122150898], "std": [0.0001561458338983357, 0.07941226661205292, 0.0002993621164932847, 0.009088441729545593, 0.0009652964654378593, 0.07280897349119186, 0.0006167177343741059, 0.0005159371066838503, 0.08337588608264923, 0.0006048775394447148, 0.01207448448985815, 0.002261166926473379, 0.06814241409301758, 0.0022352966479957104, 79.7868881225586, 0.0020096346270292997, 0.00010696544632082805, 0.029714567586779594], "count": [100]}, "action": {"min": [0.0, 0.0, -1.0, 0.0], "max": [0.0, 0.0, 0.0, 2.0], "mean": [0.0, 0.0, -0.25999999046325684, 0.6600000262260437], "std": [0.0, 0.0, 0.43863415718078613, 0.6666336059570312], "count": [100]}, "next.reward": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [100]}, "next.done": {"min": [false], "max": [true], "mean": [0.01], "std": [0.09949874371066199], "count": [100]}, "complementary_info.discrete_penalty": {"min": [-0.019999999552965164], "max": [0.0], "mean": [-0.00019999999494757503], "std": [0.0019899746403098106], "count": [100]}, "observation.images.front": {"min": [[[0.06666666666666667]], [[0.08235294117647059]], [[0.08235294117647059]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.26955541752833945]], [[0.3856389327703738]], [[0.5034753346162684]]], "std": [[[0.21710869407965863]], [[0.19662548708959418]], [[0.19390758120765564]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[0.9764705882352941]], [[0.6941176470588235]], [[0.9764705882352941]]], "mean": [[[0.2694985854204963]], [[0.3717301432291667]], [[0.5371028789445466]]], "std": [[[0.20175576813759583]], [[0.1318152877051222]], [[0.1959641367020749]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.9], "mean": [4.95], "std": [2.8866070047722117], "count": [100]}, "frame_index": {"min": [0], "max": [99], "mean": [49.5], "std": [28.86607004772212], "count": [100]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [100]}, "index": {"min": [400], "max": [499], "mean": [449.5], "std": [28.86607004772212], "count": [100]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [100]}}}
+{"episode_index": 5, "stats": {"observation.state": {"min": [-0.0007889179978519678, -0.20416642725467682, -4.745781916426495e-05, -2.4349164962768555, -0.0010017369640991092, 1.9763966798782349, 0.7851299047470093, -0.0024868142791092396, -0.4380572438240051, -0.0007366816280409694, -0.3160704970359802, -0.002385976491495967, -0.5592406988143921, -0.0008763486985117197, 0.0, 0.48497092723846436, -8.119145059026778e-05, 0.027639729902148247], "max": [5.0624264986254275e-05, 0.32362011075019836, 0.0006968604866415262, -2.1800339221954346, 0.0010337245184928179, 2.7475883960723877, 0.7857989072799683, 0.0005568986525759101, 0.5550738573074341, 0.0022865256760269403, 0.3803333342075348, 0.0017225123010575771, 0.5502863526344299, 0.001442080014385283, 0.0, 0.4939153790473938, 0.00011866695422213525, 0.32764697074890137], "mean": [-0.00026191785582341254, 0.02874016761779785, 0.00023990942281670868, -2.338045358657837, -5.257670272840187e-05, 2.3663408756256104, 0.7854186296463013, -5.7306766393594444e-05, 0.012828766368329525, 5.192367825657129e-05, 0.002576998434960842, -3.4957971365656704e-05, 0.010791594162583351, 6.1010945501038805e-05, 0.0, 0.4900386333465576, -1.0701817245717393e-06, 0.17738810181617737], "std": [0.0002555210667196661, 0.19906963407993317, 0.00023071661416906863, 0.11012158542871475, 0.0004443540528882295, 0.3021228611469269, 0.00015486015763599426, 0.00038485429831780493, 0.16745257377624512, 0.0003709062875714153, 0.1000630334019661, 0.0007790946983732283, 0.23557671904563904, 0.0003431724908296019, 0.0, 0.0018557461444288492, 3.880469375872053e-05, 0.11722783744335175], "count": [100]}, "action": {"min": [0.0, 0.0, -1.0, 0.0], "max": [0.0, 0.0, 1.0, 1.0], "mean": [0.0, 0.0, -0.019999999552965164, 0.7099999785423279], "std": [0.0, 0.0, 0.4686148464679718, 0.453762412071228], "count": [100]}, "next.reward": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [100]}, "next.done": {"min": [false], "max": [true], "mean": [0.01], "std": [0.09949874371066199], "count": [100]}, "complementary_info.discrete_penalty": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [100]}, "observation.images.front": {"min": [[[0.06666666666666667]], [[0.09019607843137255]], [[0.09019607843137255]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25940296606924024]], [[0.37697138288909315]], [[0.4962991464652267]]], "std": [[[0.20204653407650378]], [[0.1851834132438032]], [[0.18715750018517607]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[0.9921568627450981]], [[1.0]]], "mean": [[[0.2751428462009804]], [[0.4110832591337316]], [[0.5858779584099265]]], "std": [[[0.1790667293891066]], [[0.14190103208243796]], [[0.2003871457564428]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.9], "mean": [4.95], "std": [2.8866070047722117], "count": [100]}, "frame_index": {"min": [0], "max": [99], "mean": [49.5], "std": [28.86607004772212], "count": [100]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [100]}, "index": {"min": [500], "max": [599], "mean": [549.5], "std": [28.86607004772212], "count": [100]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [100]}}}
+{"episode_index": 6, "stats": {"observation.state": {"min": [-0.03039666824042797, 0.1932610720396042, -0.024432405829429626, -2.4343578815460205, -0.0063872067257761955, 2.562277317047119, 0.7312160134315491, -0.23605142533779144, -0.00877476204186678, -0.09458884596824646, -0.01963755302131176, -0.03737442567944527, -0.12450554966926575, -0.31340426206588745, 0.0, 0.4901766777038574, -0.029797229915857315, 0.07762986421585083], "max": [0.034401945769786835, 0.3052482306957245, 0.014046923257410526, -2.257021188735962, 0.01129304338246584, 2.6276187896728516, 0.8358693718910217, 0.13562320172786713, 0.26008355617523193, 0.08697779476642609, 0.40881749987602234, 0.04172118753194809, 0.030499959364533424, 0.20589327812194824, 0.0, 0.5403123497962952, 0.02500470168888569, 0.07768100500106812], "mean": [0.002752332715317607, 0.23040635883808136, 0.0006397178512997925, -2.375800609588623, -0.00035895552719011903, 2.606367588043213, 0.7891914248466492, -0.0036604618653655052, 0.009486419148743153, -0.001870294683612883, 0.014931222423911095, 0.0007995472988113761, -0.00506391329690814, -0.005126925650984049, 0.0, 0.5070720911026001, 0.0018489706562831998, 0.07764940708875656], "std": [0.009655777364969254, 0.04539313167333603, 0.004491331987082958, 0.07173934578895569, 0.002188279991969466, 0.026126759126782417, 0.014504575170576572, 0.0368194580078125, 0.040665097534656525, 0.017782559618353844, 0.0635932981967926, 0.007677894551306963, 0.020703325048089027, 0.050432443618774414, 0.0, 0.02049051783978939, 0.007512843236327171, 9.315887837146875e-06], "count": [100]}, "action": {"min": [0.0, -1.0, 0.0, 0.0], "max": [1.0, 1.0, 0.0, 1.0], "mean": [0.019999999552965164, -0.019999999552965164, 0.0, 0.5400000214576721], "std": [0.13999995589256287, 0.19899748265743256, 0.0, 0.4983972907066345], "count": [100]}, "next.reward": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [100]}, "next.done": {"min": [false], "max": [true], "mean": [0.01], "std": [0.09949874371066199], "count": [100]}, "complementary_info.discrete_penalty": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [100]}, "observation.images.front": {"min": [[[0.06666666666666667]], [[0.09019607843137255]], [[0.09019607843137255]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2697156144684436]], [[0.385186217064951]], [[0.5024362074908088]]], "std": [[[0.21766325528902547]], [[0.19707275421501996]], [[0.1944220332875557]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[0.8117647058823529]], [[1.0]]], "mean": [[[0.253896391027114]], [[0.3731121012369792]], [[0.5356380208333333]]], "std": [[[0.17931962869614254]], [[0.12989268033773446]], [[0.1887944626424446]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.9], "mean": [4.95], "std": [2.8866070047722117], "count": [100]}, "frame_index": {"min": [0], "max": [99], "mean": [49.5], "std": [28.86607004772212], "count": [100]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [100]}, "index": {"min": [600], "max": [699], "mean": [649.5], "std": [28.86607004772212], "count": [100]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [100]}}}
+{"episode_index": 7, "stats": {"observation.state": {"min": [-0.000514983490575105, 0.1932610720396042, -0.005080570466816425, -2.4343578815460205, -0.007968596182763577, 2.622762441635132, 0.7851299047470093, -0.15804751217365265, -0.22792643308639526, -0.06666358560323715, -0.4082198739051819, -0.0458524264395237, -0.1520407795906067, -0.2193307727575302, 0.0, 0.4877275824546814, -2.5472707420703955e-05, 0.027592845261096954], "max": [0.04114232212305069, 0.41931572556495667, 0.011561154387891293, -2.2508888244628906, 0.0015993278939276934, 2.747570753097534, 0.8377624750137329, 0.15808652341365814, 0.4632553458213806, 0.07154875248670578, 0.4074147045612335, 0.05145789310336113, 0.3783826231956482, 0.22073616087436676, 0.0, 0.5402131080627441, 0.024373512715101242, 0.07764618843793869], "mean": [0.004944244399666786, 0.2729378044605255, 0.0006904188776388764, -2.3952383995056152, -0.0008487185114063323, 2.6679892539978027, 0.7916892170906067, 6.85585691826418e-05, 0.016857929527759552, -9.129395766649395e-05, 0.011371707543730736, -1.8526096027926542e-05, 0.005748268216848373, -8.792927474132739e-06, 0.0, 0.5001398921012878, 0.002936099423095584, 0.05435939133167267], "std": [0.012452707625925541, 0.08662306517362595, 0.0025614784099161625, 0.05287175625562668, 0.002402570564299822, 0.04464174434542656, 0.015811080113053322, 0.02954164706170559, 0.07178764790296555, 0.010608605109155178, 0.07610219717025757, 0.006965611595660448, 0.05859251692891121, 0.035474296659231186, 0.0, 0.014243136160075665, 0.007563609164208174, 0.024632073938846588], "count": [100]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0], "max": [1.0, 1.0, 0.0, 1.0], "mean": [0.009999999776482582, 0.0, -0.019999999552965164, 0.5], "std": [0.17291618883609772, 0.1414213478565216, 0.13999991118907928, 0.5], "count": [100]}, "next.reward": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [100]}, "next.done": {"min": [false], "max": [true], "mean": [0.01], "std": [0.09949874371066199], "count": [100]}, "complementary_info.discrete_penalty": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [100]}, "observation.images.front": {"min": [[[0.06666666666666667]], [[0.09019607843137255]], [[0.09019607843137255]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2716796875]], [[0.3871608910654105]], [[0.5044236916934742]]], "std": [[[0.21986072463348127]], [[0.1987618906349136]], [[0.19537890271384087]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[0.9764705882352941]], [[0.6941176470588235]], [[0.9764705882352941]]], "mean": [[[0.2497701846852022]], [[0.36005238252527577]], [[0.5193795740464154]]], "std": [[[0.186427553106418]], [[0.13193700168978065]], [[0.1931427250787122]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.9], "mean": [4.95], "std": [2.8866070047722117], "count": [100]}, "frame_index": {"min": [0], "max": [99], "mean": [49.5], "std": [28.86607004772212], "count": [100]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [100]}, "index": {"min": [700], "max": [799], "mean": [749.5], "std": [28.86607004772212], "count": [100]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [100]}}}
diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..978a81516535c071e2d0b2470fdf6d4cbdbc5712
--- /dev/null
+++ b/meta/info.json
@@ -0,0 +1,141 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 8,
+    "total_frames": 800,
+    "total_tasks": 1,
+    "total_videos": 16,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
+        "train": "0:8"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                18
+            ],
+            "names": null
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                "delta_x_ee",
+                "delta_y_ee",
+                "delta_z_ee",
+                "gripper_delta"
+            ]
+        },
+        "next.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "complementary_info.discrete_penalty": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "discrete_penalty"
+            ]
+        },
+        "observation.images.front": {
+            "dtype": "video",
+            "shape": [
+                3,
+                128,
+                128
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 128,
+                "video.width": 128,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                3,
+                128,
+                128
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 128,
+                "video.width": 128,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/meta/tasks.jsonl b/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ea10b7451c2052884cfc0c12db4d335607fac29b
--- /dev/null
+++ b/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "PandaPickCubeKeyboard-v0"}
diff --git a/videos/chunk-000/observation.images.front/episode_000000.mp4 b/videos/chunk-000/observation.images.front/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f0e8a40e45331a0d6e06f426a4e204c43b6ff8a
--- /dev/null
+++ b/videos/chunk-000/observation.images.front/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49bc71d3ee6f7b647451c50bcdcbbe39bc2d1cf5d4f5fa43ad264ad99eea435a
+size 120683
diff --git a/videos/chunk-000/observation.images.front/episode_000001.mp4 b/videos/chunk-000/observation.images.front/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..109e3ea1161e62eb683965deb50d3379a6a3dca6
--- /dev/null
+++ b/videos/chunk-000/observation.images.front/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d13b671340d26af2583e8918b039d78f651887255589f93453792e60ed0223d2
+size 120986
diff --git a/videos/chunk-000/observation.images.front/episode_000002.mp4 b/videos/chunk-000/observation.images.front/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9529c891499d8747201fa93e45a657dcf965aa5d
--- /dev/null
+++ b/videos/chunk-000/observation.images.front/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e34294064de60e2e1bbd69f96f86f0561e4f96893c094ae93d3c545142bcd715
+size 123680
diff --git a/videos/chunk-000/observation.images.front/episode_000003.mp4 b/videos/chunk-000/observation.images.front/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c45ef2555e22373b641d7e9926c025a56f7c8d1
--- /dev/null
+++ b/videos/chunk-000/observation.images.front/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f491f81a58baf17824cfbf645cffca1ac001b1e7011f8b929a696806bcae50ce
+size 123049
diff --git a/videos/chunk-000/observation.images.front/episode_000004.mp4 b/videos/chunk-000/observation.images.front/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2e8c13efccf1799aaa2ccc7f1d0f2d5cde94730d
--- /dev/null
+++ b/videos/chunk-000/observation.images.front/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c38a91016e863c32bb26119c9694c0eb165ce6ff4597412e349b5086420e662b
+size 123115
diff --git a/videos/chunk-000/observation.images.front/episode_000005.mp4 b/videos/chunk-000/observation.images.front/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f54100dc799d3fe9e06d31bb15c9dedb2691c810
--- /dev/null
+++ b/videos/chunk-000/observation.images.front/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:642fa72d314ecef9f3bfededd32b1adba3e30c69cbabf0b2ff6f8f1858af9f74
+size 121838
diff --git a/videos/chunk-000/observation.images.front/episode_000006.mp4 b/videos/chunk-000/observation.images.front/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a6ab35678ae28e0c0d210ec1397b63c3d01d142
--- /dev/null
+++ b/videos/chunk-000/observation.images.front/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f6297385a33eb4c95b895ff28a51a0de6869eb2af3860a3e512fb014e793f41
+size 121900
diff --git a/videos/chunk-000/observation.images.front/episode_000007.mp4 b/videos/chunk-000/observation.images.front/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4e4662eb8960f146cad4f5bceba95672c0c1f2d5
--- /dev/null
+++ b/videos/chunk-000/observation.images.front/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aa9626d934ec76aca46575a4042ba8ac947300b73c4914233c5d3bd72375bc1
+size 123961
diff --git a/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/videos/chunk-000/observation.images.wrist/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3cae83b3d2304cb87e89b9032330bc20dd71e9d9
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:205cf485a1abdec8140b6327aabf000078e0b5061c388d5cad51deed3ef9a487
+size 51088
diff --git a/videos/chunk-000/observation.images.wrist/episode_000001.mp4 b/videos/chunk-000/observation.images.wrist/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33f898276d5f1a292f8113b54ee7da9e340f6075
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cafaf25785433fc9ac9edbc1cdf329aa145731bd6be2acdf26acd8e704abbd8
+size 53802
diff --git a/videos/chunk-000/observation.images.wrist/episode_000002.mp4 b/videos/chunk-000/observation.images.wrist/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92590def5a89544b689319b25e362d19068cf1c5
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:333e8341cf0beb9e55f81f2538aee89f3c326c0219afe1b8b1a423a8c0497d28
+size 53197
diff --git a/videos/chunk-000/observation.images.wrist/episode_000003.mp4 b/videos/chunk-000/observation.images.wrist/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a128d430a50bc6c996275cc85bcd96499cda9e8
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed0b152ad1de9be77898490780b396ed20b17a422de818bb04ab9942e1ab3a95
+size 52406
diff --git a/videos/chunk-000/observation.images.wrist/episode_000004.mp4 b/videos/chunk-000/observation.images.wrist/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f9d1083f79cfb55da8daf84b2dbeb74211ca15bc
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb7bde0f8c23b7c61d57d595c35b6725ed7210949dfb65475ff28c8485b6df3a
+size 52945
diff --git a/videos/chunk-000/observation.images.wrist/episode_000005.mp4 b/videos/chunk-000/observation.images.wrist/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bacc340352ff38837b5ca641355fad36326eeef6
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:824c78b2e3b3214202a75600c81ea0e73375f2d0a0be0421c4b817261859a886
+size 51622
diff --git a/videos/chunk-000/observation.images.wrist/episode_000006.mp4 b/videos/chunk-000/observation.images.wrist/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f3d4b859d32aec2cc01c93aa5e7ca14a53e10c55
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50e85225076ee340749d1b90ffe105f6928041aa1a55d578a49cb053d65a77ad
+size 48842
diff --git a/videos/chunk-000/observation.images.wrist/episode_000007.mp4 b/videos/chunk-000/observation.images.wrist/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd6f4307fe6269bc23dcac5038e0b34460669a4f
--- /dev/null
+++ b/videos/chunk-000/observation.images.wrist/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:958047c941dd7383f302de9a3f7cdea3afbc75dabf676e1a87dde57cbacccd6c
+size 51243