diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000014.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad2be1906ca316963f2de753c1e6124fe811f2e3
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1897723891097da5581ee701aa5a68765f1ac2555f9a5ea205d13aa53a3e5207
+size 1366391
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000015.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c5dfebe1430dfc387f01a30683bf0f5e104ab41
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc657f162e306cb501be3af013689bf8f5afd69b6dc731521cb759b42555e505
+size 1396004
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000016.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95e8f894b232ad84ccdc4b14f52d444232494ace
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:097d12dbca57ef5f44010d4192b3557ff237d4c1c4722bba3862682696770c40
+size 1445555
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000017.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2071dbaf24d83f04cc0a1491ef3eede14d62185a
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e076088be31349da82342f6c38b63e0936be571770d758cf0de2efd817624c8
+size 1412321
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000018.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c1ecfc45d62377e1eb9c83a8642c5ca010c69c16
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3bd3a6135c696e7fbe4e7a56ac9701a2e6e8127f349679170ec779e45cf27fd
+size 1417154
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000019.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..649d787dd36ade440354545313a505e81bfa9ad6
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4c213fd3b18bb346c9fda9c3169eb0a1b2ddcb1771ed28bb35d1c2ddf80b6d5
+size 1437296
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000020.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f78f9c9eb2a99897d8f212685d09969942685328
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a84fbd865a1111781a3648db6a279248e4fa1dc8bb8769ea8cdf78150ee5a019
+size 1474873
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000021.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c6faa430686c41fa8d1b0859d325fc3eecda176
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d819c0d4aa9b9425bdfed509a8f68f4fa841a2f510a10e2cf8d6a76ccf45bf5
+size 1412008
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000022.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..024e3687f905186fe084f547ddf90d4b61fcd002
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:697ef35ec19db60f35fcd47534510b6802413da8b2e80ee2ac40f3e2966c41e5
+size 1486248
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000023.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65dad21843837101548acb2207ce5dbbc0ce02df
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7382a0a94078290411b130f1a14b0d03cfcab54fcc1eea47b77a5affcf86b0b
+size 1432298
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000024.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b93da6faf71dfd07ba7cb210e6ee1bef36abad55
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41fd7440ddfd14499b4624e49a7b3d48d8423d93fe86e154695d16c8ff45cfcb
+size 1469193
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000025.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f36cf9cc6e88aa474e0f9af36e25999736e0e8fa
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8039cd1ba56b091c588466cd569e03f409da0bb56a8d0288fa003089c80d56c
+size 1549022
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000026.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9bb98f1860c82c2a28191bf2730a9558493820d
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9e1a3311f2cdafd7059091016b30ca0c3141cc2726d59d2f7cf52b4fc31bd03
+size 1370608
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000027.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b97253c0c291329499bb06ad5d8df510894b621
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:975a6fe2564280b1c8b556bca342b5b496b6ee0cd4b20aa0892e5d8d6567518b
+size 1374286
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000028.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..feb64593182db2c389b68ad372c2b6086e2172e7
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67d79bce98fb1611ad1433880d21aeec9108b946e5b9eaf51ce05e6b15907593
+size 1465582
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000029.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..208af0e27ea64b91d74edde3ceb61d41e588804a
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2c3c97aba1a6b83255dc4c6186640c679f91f2f24ecf35ec11dba79603de4a3
+size 1528669
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000030.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b44cc32bd0cee1df921caabd04c6a1a7b14a8251
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6381bde459169fb415ffec5a452f39db9496335e9125acdc00407cd5403de0e0
+size 1466174
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000031.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..595bb96a8f8921b1f778daa2dec4e36f00012123
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:433f0c4ea03b1dbcaa2c70e79380af43f75ef8ac50a61b26ee8cb1595320a836
+size 1356311
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000032.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c039f93904a965fb691c320ac452d0518857660a
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4a37c8193a396d8adb7e9d606582103b4a5114c1c2d18e90789fc5cff23d973
+size 1507445
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000033.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc0777bfa841e18713b229a30833efe6bcf6243d
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa71a6d3b9189b85c64b18a684a28359d7bea2e5189272bf99f8042db8a29b4d
+size 1483848
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000034.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5ef4f614170c222f318e18c54e40ecb83bf2b3d
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51af3aabd84a04bbd2746be702c744c0d30f4702d5d84a60c659ca7a25064f08
+size 1551426
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000035.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac1ac69db1325713b16e473328124923760d908c
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ca8a2ff7115488a1b76ddb5ac25e6c7126b391ad76f08a6f1fffce58d73478a
+size 1528499
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000036.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..590a02c33b4e68155d99fc39451714ad1b8035ea
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83440bf8d072fd6e3f4ef005924e53fe4134a87e32800933ebfc388169417558
+size 1477606
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000037.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7117a62a76078e962b1b06a201e996259cecd0d2
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daf55b5548409a4ca77a27ee75d5fbf50545858c525b2d63ed3c9f77676c8a3a
+size 1384999
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000038.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4815d8d9a8aedf092186ab60100f170835321ad
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:970e1efd51a1302c373071018f7101411871f371723bc4aa23bda8ec14a27813
+size 1387490
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000039.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c95c148cd48c2913bf0e0fda7f5d25beba5016e9
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2870653cc5ad77a9001e594c86c8e05c163cb244a1ce35a8363dbc20888f39ee
+size 1427708
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000040.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fdc7cb4d5ddc7560d4d3aee32891f4f640481d33
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000040.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b44c93744a80359438ae00db46c04a7b05dc8e7f703e983e0bf6732be1256792
+size 1387791
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000041.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000041.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..627f848c0106e850b47e18e56c2bdbb4fe0d957a
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000041.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7416fed63a17e96345499a4fbff1edd6cfaf1f16ab387b458cb13ad146537b82
+size 1342598
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000042.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000042.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..28b0b8ed1c3173316bb394678a992c8c5deca297
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000042.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d26da73c5cf5d24e9ae1cd8f7c9e7e6a03cd5868ec55c736f8c032ed940c17f
+size 1465417
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000043.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000043.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..625fb5af2c4f523597a03956de85b820cea91d5f
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000043.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f56d844c798121eb51ec44a5adc647701d6300d20631773a4ab5bd86da77d6bb
+size 1413180
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000044.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000044.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc4aa6fe0d5202743014cba01337449449955756
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000044.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0ef10cbd7618634e3d86f599ea2763261802fae4f54639095f2f168048c66f6
+size 1500904
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000045.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d19643e1931a70feb29ee0803c35c64cf7dadfb9
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000045.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cae0273f91f7c183ac5cf80e2885db4bf63270545ba4c03c079ff07fcfb90b80
+size 1440922
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000046.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000046.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5caccaeb581aa7bc059fbd799e7970b28e231e7
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000046.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f805fcfcfdb3e33e2cd9c2704c566287c5d519fb3cc1a37a1ef54a394675bde1
+size 1358731
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000047.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000047.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd42cdb0459e7458710e8fe5a4934fd76c89317b
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000047.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f79586eb68a4da2ca09e6ea2fb84ac6de3db8ba5655d44a45246c3fb06ed906
+size 1387174
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000048.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d4705988c741caeae7dd83488d474bd03c79df9e
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000048.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8803f3d09e8020561082b3ced4cec68307d09ed8e06a59cc47238f8c94d4940c
+size 1434483
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000049.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000049.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a514946a729483348198b33bedd7ee8614d93cf
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000049.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d19f1830c1f973e020aa9d3f08fd7aba57d5dab95a6179fa72aa16cb85d874d6
+size 1480614
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000050.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a7f7f5c44e00934eba28663d7ddbd3434d0c6d34
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000050.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba02698fc5215ffbb955b642e57568ff0a6b963881beb6579db737bfab9732df
+size 1428605
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000051.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e17282223837b151f5d7562c79940b3ca1a836e2
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000051.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00297f3f5f5f497d2571c551fc1a842cab69d6bc7334bf060a30e5658d3e308b
+size 1475402
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000052.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa08507d972a34c92e3d758c8075485e700028ab
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000052.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37a33cfd619d46bdc64292a0a240b6e0a77b5b84e1b454fd5956666736b76271
+size 1435421
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000053.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000053.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..70de44a0cef64cad593b58fffb11642dc0daba44
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000053.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b42a42074ef16bba2fa7583651e0a5b832d3f1f5045ccefbdba4b5f0196e2588
+size 1520358
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000054.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000054.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..56cec364433dba08c73ce024fe34452e419a8071
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000054.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e7bfd4e345f2cc64676835f075cf56cb5175fcd89f3a8624b3d09548dc76dc0
+size 1366969
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000055.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000055.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4ad27013e8e4312af46dc14afa42781aef854fea
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000055.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad23c11cb63ed9e304e165aeaf9dfc509031db088a4dd2c2ce2b3db9c51d0954
+size 1458332
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000056.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000056.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7902260d44a1ae444746681fe5409177a20c2ff6
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000056.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e8286db56ebb20821bb08a8e5ea43b6b030815e83625247195206aac2059d10
+size 1407608
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000057.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000057.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a62768e45b61a793b4b49c8ce88a8ac2488865f
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000057.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc61ac4102ef1fb2235dffea588441e0e43b064aa4d0874cc608d571d0be1a83
+size 1513439
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000058.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000058.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68467d0578b7fa7983916d2859048f8d7815d58e
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000058.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:211c2745f361bda0f8ca878315f1bfaeb88e6c351fe14e7539e17a9a12b7e8fe
+size 1476977
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000059.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000059.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..335e280a59cf4280d65f7ac670f042480794b41c
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000059.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5650fa9b8074cdce80c994ec0a0c814ce7b708b89fa217de9b8d4940ab5adcc
+size 1425465
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000060.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000060.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a96f6c2929f3dba331f32051f5688eaa176aaabb
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000060.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a855b34ae5365f7556303950514b96fb95a15afec03a15f4991bc34dc6e3a971
+size 1363757
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000061.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000061.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3677bbae6767700688fccb4238265b4f111a9ef8
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000061.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:653e1561850e7795c0594e8893911dad4d7451b5a34a95cdfd7d8e510e04a186
+size 1519381
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000062.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000062.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb5c7f83f3867d0cad941064b95f149056bcb968
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000062.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:161d2aabe2eb89c0d6de986574f64119e1438f8517fc5cae98701d6373c3ff7c
+size 1459324
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000063.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000063.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa8040a87c3c27a2009e76e7dff5d46f3ab7da1b
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000063.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b1c650115f5486f468e2d6e9ee0b10b08a556eb33c63b461e2caa6dce4cacc5
+size 1431335
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000064.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000064.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0eac6fe2d8d4f85eb2fc787fca65443abacf84f7
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000064.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59461cd1dc810872d229bde252e1d2550af11d9e6868e9e7e38e81928e61454c
+size 1426104
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000065.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000065.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ea211d824fd5bfc611a0d4d92898ee6733f86bd
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000065.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6759eac0beb329f639d84687dc491d883054559abecfe37ce30cd417174cadde
+size 1400623
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000066.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000066.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9a3a81da0e8e5f4bb9bba3880d0a8b42f2a30bc
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000066.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1470a5e67035767c3a2ed5bd636c515879241e591dde5d84f563da09a0f74d2
+size 1424875
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000067.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000067.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..878e2e8fec6a3eba77da7e68b8b160eabb2ba8c1
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000067.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef43012cdcfbf40ec96b3844f5d1e2df1813793cbf53028c5bdca1289b7902dd
+size 1429840
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000068.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000068.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0020ba01fa99b395f30a0a571bb2fe2f54a491d
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000068.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9abc362a87c7fdd3ad80ee05574485a318db3053f320291e838e5053ba841d27
+size 1445065
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000069.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000069.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2daaa1576b6e17ae2e8386fb0e071fcae63ed0f8
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000069.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd62c5f4005be40d13871dcfc9404ec7d3d0e7d115aa548b058b47bfe65c1e7b
+size 1472304
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000070.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000070.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8336e2296cab1b8527d35197b942ec6985ac27cf
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000070.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bcdbbc166e24b868e75f10509411ccdc7aedcee700f911c12d13d2c0cefb101
+size 1501312
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000071.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000071.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8716ca9e5a111e74a05d2c5804dab28921149660
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000071.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bdd7e25c04ec395f30aa1fe6ec75aaca6b660b163937fc444740db15ec4d329
+size 1434733
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000072.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000072.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ffc8230e91cf028275ef93a1ca3cea35a5f7a8a
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000072.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7da251e16b5e8f3498b50e1a46789825e4d7854546e582df3b20279b4b672d54
+size 1497599
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000073.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000073.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca5bb7d9a13d7547d0cc1677473fbe3cb3c2ef23
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000073.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7daf2fcce8bb0cc3ed187b14fd4d583fa88841862c418b8a69c5184ed0fb45bc
+size 1387344
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000074.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000074.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34b579bc29c46ea4f52b1c5af6bc5799a1c0c862
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000074.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1beb5cbdf71cc770a68b7953ba4e22d848a4da6342603e5af5c167de2320869
+size 1468791
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000075.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000075.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34e978b44da4f691d186d0f7d45d6e839233ec50
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000075.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b953d0a2a84e83b1814c2e65805918a9c330096df4cc53a8adc6a24175e6b7ca
+size 1535991
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000076.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000076.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5aba65c37c9c7c48d56e36a27aac8cd55bca17d3
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000076.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6616119b485fd2fd0c688b1779da579120e8fb7bb48fdcf07a84e902dc0c7768
+size 1458092
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000077.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000077.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..896e8d020ed4679892c58f24fbdef2cdb9916923
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000077.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8cf27d46d60049b63ead67d79ade3829112774dd3257f43456910dad4ac314a
+size 1393765
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000078.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000078.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..148530a0ca0fbb76348d95b7366155b3b4e2baa5
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000078.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:433be35f0f9061ce2d918a450aa28e7c4e1f9f1df82fca3a60266f70118b1e97
+size 1457544
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000079.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000079.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a8d552e5d3d8ed38ec0d65111e4faff37aa8469
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000079.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2788d2c675b26254f953c26a3093d163aa8c8d06c582d7c4d995afbcc80d99f
+size 1538611
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000080.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000080.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13b6c86ceed3ceb4973ebda80024ab30169eb15f
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000080.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2028260785fc1ce100e4131e2d2c1f29a6d0d3458c290cd0b7e95d0bfefd773d
+size 1481059
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000081.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000081.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68948a865da2b3c68f9237c08694ffbdca54fc04
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000081.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b33c28302731eaf972c74ca76caede2c4832b52909e61aef3b8236a99caac2ed
+size 1351037
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000082.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000082.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e8fd49ebca032843709c5292c3fa3d196894f67b
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000082.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c55bfd19d069c3cde4292d6e6480243b8919f2ed93adae62ded4fdc2d2356ae9
+size 1524991
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000083.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000083.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d8dbaefe29e2dd5e3bb4efbb8c83acfcc102605
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000083.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98d949d339d1b3955f73dc6482cb4adbb7511a6749c88fbab10caab1798e048a
+size 1476491
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000084.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000084.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0e0ba50948cf05a1d3e1ebddb62d733c9aba1a7
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000084.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1f3a96a68d2b96049793a67c1a4a9707a045bae0898e4df7c7d3470b86714a3
+size 1580383
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000085.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000085.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..abbdbc71886c0f09ce8fa246310a06f4c7ab9ee8
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000085.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95f2db36efebf5dcbb2c9aea017ee1e5a017f3bdf785a87d26f5d2a84afe0dd2
+size 1510785
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000086.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000086.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..76095f51630db1623e48b8b68412f81d61e12844
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000086.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a9747aa36cda5e5888018404d2c8d3bc786818b4cbfa867403907d4b492eb9d
+size 1516270
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000087.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000087.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1417f540622f3715579381cec1593a998065609e
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000087.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39b34243f1af29cdfef9f1d149715be0c17e4ff282970e403a160f0023c2aee4
+size 1416316
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000088.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000088.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a73d72ff58bcf10a26c6e537490406f8142725b
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000088.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e53ca15aa618925a87d70e5cf251faf756513b37dc57bd794732038d2364746
+size 1416111
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000089.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000089.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b93b2a85e11fbeef8dd7e7aeec0c6679f69d67ab
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000089.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:329ce6fbc54e1e42798def54b5a33a987b1d72fbf64b2de3392fc02c2cc512a5
+size 1446516
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000090.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000090.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9253b49b8e118d132d36a1c35cf5aa25befbd649
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000090.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b27a230a2aafe59ec0b626ebc1c6170bf71ab4b6e3da59094efed5ff96bbe8b6
+size 1435349
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000091.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000091.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65320a0e862b65fe34bfe0083106919208fa6c3e
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000091.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58be73069675b17b4d3ed71cc169fb809cabba31ac21156d690a1ee07e8fe5b4
+size 1361964
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000092.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000092.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91341e7dfa164b0ea56a485a3f7dd9a6262fcfa9
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000092.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80a6ecab3e9bda6b1ffcdbdfefa2ac038154929d0f3aa427e3f77d961f13c252
+size 1513773
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000093.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000093.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb0922741a9168249332765344d024f5d29a8aff
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000093.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc24900a0cb5877570eb98d1b362805976af8c148fdabf770d2a550fcc749ef8
+size 1384312
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000094.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000094.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9aaadbdd7992a502c9c2ef487baa775aa9c47107
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000094.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04fcb543669d545464fee9a39ef31794dad6491ba5049ee87de26e2db6f45a46
+size 1546282
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000095.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000095.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63dbcdf92fe5d11b409ddb51a848888a2840d135
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000095.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45ce29bcffbe6ce41ae7052ca5f96a3bee822c56a3e1c833797407d3c9d6c98d
+size 1475554
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000096.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000096.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4c2928fc3af1b55e780bac498b18a20c66faf571
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000096.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4195d13da6ba4e4f2937bc3e05989ae14af0fdada76f14c02d3e0c6929e8f42c
+size 1346641
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000097.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000097.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0deb25978ae5b046a4bbe5e39059a1262946f0a1
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000097.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d58eede4c1139b7486e2d4e21e48bfdd78abb47fac06e4df220b045f39e7d1ae
+size 1359170
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000098.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000098.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d1ade2130a2046ddcc8f2ad9887795023bb1941d
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000098.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:078b562e0df732038f46eeb4420de9666245a4381b1bdd3fd9f90510d5cca2bd
+size 1497922
diff --git a/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000099.mp4 b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000099.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..729ba46576de5f2f1c639fcfec0efa4a35b489ca
--- /dev/null
+++ b/Simulation/GelSight_mini/hardness_classify/videos/chunk-000/observation.images.wrist/episode_000099.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee59411ef731f31d4445a199f8aa3abb00cc850bcaca3452d42a2ce68d49555a
+size 1479236
diff --git a/Simulation/GelSight_mini/insert_USB/README.md b/Simulation/GelSight_mini/insert_USB/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..36fbaa08508dbe8369d8c1fe4f20181b1343a65f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/README.md
@@ -0,0 +1,9 @@
+# insert_USB (OpenViTac simulation, LeRobot v2.1)
+
+100 episodes; 23480 frames; 60 FPS.
+
+Task instructions are listed in `meta/tasks.jsonl`.
+
+`observation.state = [q0..q6, gripper_open_fraction]`. The first seven joint values are radians. The last value is `(left_finger_m + right_finger_m) / 0.08`, clipped to [0, 1] (0 closed, 1 open). Finger positions and gripper width are retained separately. The EEF pose uses simulation world coordinates and an xyzw quaternion; rotvec is an absolute axis angle, and the rotation matrix is flattened row major. All numeric observations are float32. There is no action column.
+
+Four RGB streams are MP4 videos: head and wrist (480x270), and left and right tactile images with visible markers (320x240). Timestamps are frame_index / 60.
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000000.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..af4b7ad468fb8d2d4b2cb8147c9667a98dbe2523
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e9bae9c5deffbb0f5fd98263540e89c91d20b528c931348b401842428fb62f2
+size 61485
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000001.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000001.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..89b35f4bf9c5c33a86f2002a252644c73b5349d4
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000001.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:562bfaf1e00e0d7d9fca9508f9157c2f321903ce10d78aa8e4d1ad77bfeb3929
+size 58207
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000002.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000002.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b00f86428f54c97bcfbe536d8c9025815fb61d4c
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000002.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84a7945d6bf50ed071898bc0f26212a226bdb1eff337558a4f5f8b3a8082b5e7
+size 57541
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000003.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000003.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..20336a1281398f7755ee4b671a93d855abb8df82
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000003.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ae183c290f5c1b10e29f907c19b324ffea370f783f8ad33dcfe83c189a70244
+size 54642
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000004.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000004.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1b07f0971cec7b405c08b2c635b038b720d6fed2
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000004.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67174cb52d7d1e4cacd395832eef994e59801ab9cbcf4a2d949773a7ee0f3fea
+size 59760
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000005.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000005.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0f65544f58413f80c776f4a206cc7f02bcbdc034
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000005.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14bd994ef32b955c2719a0209e160424b200b660b7ad09bd2a71c0324245e085
+size 59455
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000006.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000006.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..18f3bfe9c1798a8d28770551014dfc5454a7ff40
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000006.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36efb25bdc60bc6a639fa53b264b1cf18ccc83349a45f5f8795c2797a06384bd
+size 60829
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000007.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000007.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bd14d9542e502e872c3f308731afe2a0e1cce626
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000007.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0726db2dfeedae377ab8733cd53553c65970deca61e1d2d050a9b9023819b7c
+size 56557
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000008.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000008.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..705103e934b6a0fa10ae8803fdb0f0e309c3ff26
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000008.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06f4fde631921eefb287a4c712aa0d92d68e769ace154550df9cd7922567ebe3
+size 56506
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000009.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000009.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6e0c47690d2d60647164c3672041f0ffa7ce4e70
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000009.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a356b928d2a908dda701c3345b0c384155debf34f547d57a1e4e8ff9cda8e3a
+size 58881
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000010.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000010.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3739156ba7aaf3d93010bf49e1e16d7159d83d9f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000010.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71832edfbb8178ea239bcfe6572226aa0f31065770506814c65a3ba7fedc5c30
+size 59841
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000011.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000011.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..41532c0a610c4d78141e2a84e208276737f5ef21
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000011.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b02ef9caec2a7675419773dfccd94e532a1de418ddea4a9f9b25598cf3430d5b
+size 63404
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000012.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000012.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..07d1903aa31cd6b6ade0d10cdcbfcb431e33b053
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000012.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39422e815df6631154a125a933b86c5e35a50566fe5d6d6895613a9a3440394d
+size 59142
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000013.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000013.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1154dcbf66dc27700a1c355e0329536d1e0984ca
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000013.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8433d40313053282e2f9f2a247c1f305dd3abd52d03a1381852f26442c8ceb29
+size 60136
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000014.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000014.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..75f2a5a1a37c9ccaf04f2eec5901db6bb9216e74
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000014.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c1df2af656ded453c58714b450a0b979ece908690d0b78a72b3147b6383e668
+size 63546
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000015.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000015.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..26e6453417ca36a4e7d3cdec65fe9b794a80c0d2
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000015.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ad97f10f4497f72976c50950a4f6ce7c072f8d791654954de3d90f8823b7043
+size 55560
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000016.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000016.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a604e1356e2b5f4fb5b489a7bcdd4adc4e8580d5
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000016.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dabf3defc71cc430da2e05c1a14b50b6083bec116976db54ddce9f310953d0ef
+size 62752
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000017.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000017.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9b5712848010f32d45698911ee893c89b9e0e3a8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000017.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53e4ffe86d068e206fb9e87efbdf0b2250517be573e1af673d8b5408be1e85ba
+size 58553
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000018.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000018.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..18cabecf2a50d4e7061d7e4666ebc9a0becef322
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000018.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bf624f5bb036eb5b454358377d746ffdde5132a5451f5be45c0b6d38ccc79fc
+size 64485
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000019.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000019.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..54bfd5a2187b92525b78f2ba49fe634c9f96e7a8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000019.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2558a852a7ec043bb5fdbce5e769b817bffd105a8fc34ea9c92ea41f15830129
+size 62592
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000020.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000020.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c8acbb4cfb9a1784879245909f703dfa36774247
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000020.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:454684fed9911fdd54bb02c4f50804b0c9b9eb6ec049c66859d2e4336c4ccb89
+size 60917
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000021.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000021.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..332f5cac2fa872916b46842660cf9a8562458679
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000021.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73c9e784932c910d83cb780af1ea4014c4a28ca24964887ff19200b2fece8fb2
+size 56729
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000022.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000022.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f176839c3034392a873333709ccf8e7a1bb83611
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000022.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4a39fdb34e226e4d40450cca50409a951f9b7af65a03e51b877cc2617b6605a
+size 59579
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000023.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000023.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..835e7d220d31428cd3da89c4fe081e41f5252b23
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000023.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dc96409065dd660078c6baa64d3b2faf43bc23f427a66e0b4069bee4948db2b
+size 57593
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000024.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000024.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b411b3fbb48b0bc6f886088ba88375af13ec64af
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000024.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b6e648397a733b08caed5253aff873fe24ee0d0dc79c0568fc47fa36506b127
+size 60704
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000025.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000025.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a0af881abfaa00107a462ae8a44a8633a4202750
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000025.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5359f60ba21c261cb0aaae1db2e8459780ceac4b284c14f25339cb77e69e185
+size 56357
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000026.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000026.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f64e5128f9b3ac951080ec90ae44fb5490bfe55a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000026.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58e1d4c1dfd756f2f28fce05f090a33fea23fd2c6817b29055654bb48c0fb390
+size 56337
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000027.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000027.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..035a2fd2283a046ef2d00e2b6d3b4939a15edfa2
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000027.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:902178d767e1a4f1a84b7867f9e609f45770cb99024b88216badac9be4259497
+size 57352
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000028.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000028.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b471715b84f51c27864d29e5f3bacbb5ec57cc5c
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000028.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dd3a9e4d7cd3422172f4499ff44a417fef65aa9847f909348473bc664fd86a0
+size 67701
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000029.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000029.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3902bbbbd0dc8b5bf923e6df41200fb5d1679a7d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000029.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1da861c9d4a82a04568bf483f1e366eabf2ffd5ad5f0163486d6dce874b776d3
+size 55998
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000030.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000030.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3cb27232eaf160c4d297d776539b53f9d698e73f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000030.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac16c0bae49d21920424a3aae68692cd4e78ccc7f592c281bfd2325ce422ded4
+size 56836
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000031.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000031.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..742f37bd165bc0100bb3c120d356444b9ed77291
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000031.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffcc35ce5abf9c25a35913c8160e08709090dc3ad946c8bd3a231c4eb0000266
+size 54009
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000032.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000032.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c213b5690434327e667071bc861790cf97266d51
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000032.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a82b099964438ebe7f1cbbde657af159903f4d886e458a4a795f7e707b430df
+size 57101
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000033.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000033.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..85c71edcf14ede9d206089bab9f854c4a6adb612
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000033.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68117d78e35ed00013eb86a7c44b50bfe64286c81705bb91ee0689127fdc7032
+size 59536
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000034.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000034.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..aa966c3e239a9c660b1f01eab8c54640d30fa1a0
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000034.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e077e2679e2e325af11c7ffa2708a73b72969feb579d278e020dd3f5371c88d4
+size 61095
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000035.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000035.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b62a9e4cdc094b417dc5b3a1678f4d19b50a326b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000035.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:477370dcc691680ab4195aa5985518c73062593393cfc2d58ca60ea67da86454
+size 61134
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000036.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000036.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f93c0313060ba92a15191d490bb91bf2738b33db
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000036.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e02afcaaa1e05ec47ca559111616a55070854d83cfef489b9f893b80baeb3e2
+size 62560
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000037.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000037.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..66e3e18711046aace9a3427d66beae9055f95cc3
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000037.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60fce524f51475a9bea9e50d54801cfc0916b2188e4f2761616c59e848d44005
+size 64208
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000038.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000038.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..83ae070d28a7cba2f41adf504578f566d746d43e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000038.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4cf039f5ed95f672fbe86eb67be643abb25f3e16d6a38c5d8fe714bec40a475
+size 60233
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000039.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000039.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ccda0662f7ef78159174fb88c624a5efb44f8040
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000039.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c9b55573807658c0eb35542a26dfc2d0a19c579ef43aa6d7deb1a2cfc53447
+size 57424
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000040.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000040.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ea1821e88a46ef78fabcc527cb0d23fbef23536e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000040.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55d6ab334076dfdc06218f0357f629674b2a2f35ccb67f32cd81a0828fc8cb28
+size 57541
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000041.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000041.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b0d91d9c9f06c6f37ee6bec5ae65c6de77e28a28
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000041.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75f3d89ae9d5aa3e842a040de192fe15b150d929ed224e85e96b7815a425735e
+size 63251
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000042.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000042.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fe7bb983846c57b82edb22b732516eeb6ac3a272
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000042.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd3c2dad6dec1974871c583c79ab93d0d817faa6d421f72caf7c9176e72aaac8
+size 60293
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000043.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000043.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bdf5626eda5a82497ec369419ec77b866cad08a5
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000043.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d9718d8c4961a8897ebd80164db1e71919572c58594eaf31449e13b2ae152b6
+size 66579
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000044.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000044.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..600062ac0a99c8425d9c90b4bcc425971f00d36b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000044.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:387180ef708e8e2e63ba38299d1ef90352a4f65ac724e67893973ffd1cb8337d
+size 59324
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000045.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000045.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e1c8006168d3b098da739fa5c9f6eaf5e2ee7ca9
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000045.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c310c880a43ed712e61d6b68c8a16e708a447de2a140af135ae725c4d77c59d3
+size 55626
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000046.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000046.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c7147274934c9519d5133c16cae4ed998be4575f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000046.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbce1f6fad84144c78d7530777a26b619b635169512c558ef889b34cdb9dae27
+size 53297
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000047.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000047.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..947e9806bd2f0a59d0bdb324118dc8f253299d6a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000047.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11b5b9e1621372252c0c797d9eb3560bd7fc612c2f51fd2ef1d178546ca6426a
+size 60104
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000048.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000048.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..002aff2d46a148cb6f75150c738246ab8b4f6067
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000048.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c827f91842de35055dcc649a6a0ce2f04d7a6c2ab862e7a798a9168ff85244d
+size 59547
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000049.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000049.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..56ba742fc72ea13c40938db2c85f61288b66d773
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000049.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b121038089ee12e22cfe7ee5839cd3aa5da7b7838a8c2ae613f896cd6b9bf92
+size 60574
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000050.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000050.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6d1c1ff3e6a24a5c00205802220a4b099a5e6c9c
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000050.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05df7ed96422d58a50107ae1adef14ce20978483335b11d97c89729802ea5716
+size 56305
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000051.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000051.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d56352d60f9d04c4f70358d9e9c13cfc045864fa
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000051.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4a3caf82f2cb730d2c50191050c5f1d5c508fb2a0168cd5dd8575351cbf515a
+size 62521
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000052.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000052.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..31ec5f75d789c2eabb69383148b2eb37fbff3c13
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000052.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f4d1267e8136c577c72d3092b906411d654b023cec092e47de196ba78658637
+size 57585
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000053.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000053.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6c7132527e302df5f1cedda37098330a5db7a7e4
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000053.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5076c378712eaf4a6a7cb2f9953e104c9f411af447b8a15897b745172a77dfb
+size 59856
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000054.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000054.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..32bc387da8171407b15587608d051615e4da88f5
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000054.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91d3d41db840589fd7eaa41c09321947313f72212d04c9cfdddbedd40880cc94
+size 59354
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000055.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000055.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..23af9c8142cb479c82c69ff63d456398412b8763
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000055.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:978a5f10902bf73c14d01202b1c2e0fac98980a9059a0b1a21583765fcb297f7
+size 59272
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000056.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000056.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2a170a536e389cff1738e38a2a69b06993dc710d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000056.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3536493d7a582f922a23215ba8a63c18e07a70d3d69ad8d4bb686b8fec7de75
+size 60000
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000057.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000057.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4564fad7f65fb5833f3a1c587f26e25e5452ea2d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000057.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bccbeb9f92ae32d120a47b95a68cf82badbaa676e87eca38f6077026f1ea4dc
+size 63927
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000058.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000058.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..50d132e3cf1bdbd2fe211f55b00d452e92ee8ba4
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000058.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb187c33e99f11c606bd15724a379d8355295d13e845e6e6f2d5f57a6c36cf06
+size 58716
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000059.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000059.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bed70d7d489be20af31cc2b88116bf2f1baaef95
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000059.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33dc9a347aa65dca166c5cf8c092f5b63cf8385737071625354194ef5956c056
+size 57461
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000060.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000060.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..62add340415c75e19d7b46aec4a4a6ee6698dd10
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000060.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84e74c0669d16ea3c4a40be03b8be315c2fa2562a45f77cf7f127810e559240b
+size 57879
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000061.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000061.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2fb40db566dd64156ab7b70598a7eafe0d33e040
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000061.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2f9f26de19bf2eadf3abf1d921b4275c7705c316ceb90ed34514d712ab0f1d8
+size 56401
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000062.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000062.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d3a4e1ef1b7bbc3ffe3dc88b8ccd82c690c4bd37
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000062.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7643c2390bb48c3f2434cf597ba3582615066870f822529688cdd6537ebd6500
+size 55028
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000063.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000063.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..75e9900e1b729c07adab6f90f8d262ddc7e02411
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000063.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:590f1006f9e5bc773d09762debc525fced22549b8a3ce54da0351235484e4848
+size 55046
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000064.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000064.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bb29cd232c1c3997933d4e5cd268fd64a1b7514b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000064.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1a5d5cfbfb3881ca808f91295d58461833afc76aec5becc2f77d6ed5e0dabd5
+size 55282
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000065.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000065.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..860eecf804f80e95aeee90bf8d51a8806d92a0f7
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000065.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acc8c9bb55fa902872d9ed6a5155ce5b84e84e9454420bbc500fca08b0391f38
+size 54849
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000066.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000066.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2d2d925d1483fdd200ae5a13416b13ef7ccc649e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000066.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a84a7a493c6dab88a60696a79c0de7375a7d5f7bb63ac3e10f3d97cca339597
+size 60676
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000067.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000067.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..63b75725cdbdb240b5373e52dcca4c6e18f5c563
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000067.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a2c7643fafe88bb645a990e4ffa0ba62ee1ba3cbed4658b78e1138620200628
+size 63406
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000068.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000068.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6fe658695c3dcff694f6a51075aabce01691a2aa
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000068.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2180612d085d481289c6ec95c26db9ae3ba37726f07c1bfd2c808618d972c880
+size 54241
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000069.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000069.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..79a1336496fa24d1571d7990d8d47bf84ff59cdb
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000069.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5206da757abc73eca214c51f364a96661c6859f41c3b963bcce920c71fc8df61
+size 55834
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000070.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000070.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c2987596675ade74c76530a75518737196735473
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000070.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24df5ae3431f135dd2cc20203d8d939524e42e6de7d8431f0a9bcf2518d11e20
+size 62086
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000071.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000071.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2b529fbe7d36e64c6a2a07f60eeb65d3d3a94146
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000071.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9608dd861dc20d9f1c58619817a85e08c754a1abade21dcc854ff197bd65968a
+size 65544
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000072.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000072.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..53cd6240609d5a1da127ba4f608402a1b0fcab56
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000072.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2647d5649bdb24590ed5f71256e72f2befd59dac46011c83860d455cf4dedfa6
+size 55043
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000073.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000073.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..49276d32d04a8d0e360ff6b5cb030a8e635e368f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000073.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73f9979c0823e6e99d1b639bd140b98ed013b52e59c6538a7195e12c496a6b56
+size 55516
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000074.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000074.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9db1848d6a0b0aae9c5faebdb7cac4510bb5f1f1
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000074.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ade7b9f0c1313241b5855a1441b65256c6c46b444d753dbc9b28d06db3d445eb
+size 67193
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000075.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000075.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fb2fa07181791986adb7684ccdc17a21201deb67
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000075.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a3c1999354e31259001a5d17a1c4bfeed6030a677e99f972ffe402d222f52bd
+size 61123
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000076.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000076.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..42cb0996da5ab76a61e4b34d68999c05159c7e86
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000076.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:782b34f900c98f40a03f346e4d3916f75d67696ff707c2a27ee70428aa0d932f
+size 57546
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000077.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000077.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5b02d3d58d842f799b46eaf62fb764dfab6a6897
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000077.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff9736c5c44c3c8ea8d24a36ec39d318217d07a731a217fc1e3f8d6cd52183b2
+size 64039
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000078.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000078.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9148e8ac19831cd721c8174053fbe3ec77686eeb
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000078.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4957394e1341bdba3e4bc368c37e118c5dd7f8c477699edbc1c33376c6d674f
+size 60124
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000079.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000079.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b95b7fc579593d3559932297767e19f396df5013
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000079.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:322a9548203c56a9ae88c66bade8baad37eb9691f602e173e4971b7e8a719a21
+size 67821
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000080.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000080.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..138713eb020165226c3f92ad5f6e051fb1dbe337
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000080.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae1dec8e013c4dab93128d315212f42d3d47a58afe272dfe3dbc4be6fdea5ded
+size 56273
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000081.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000081.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cbac1d9591c0db2ff35620d2c31dbae14e8b6b99
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000081.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cadc7c15761e3849d037e13cfc0befc84a351d80ee74d5f00485b0925218193c
+size 60515
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000082.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000082.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f397f6b1c17db6c1b563c2610e5ad6e8fba08f94
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000082.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1b294d27e2b958f71fc96b00cdf9a4943bb05e135a223fe44079b64b286dd84
+size 58713
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000083.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000083.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a450176f7c9c70ac008b1ddcf201b2d8ae621a00
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000083.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76ad368bafb3e6a648ff3fd903b4a7422060eda5de8f708d367cb7cdb5c70cf4
+size 62592
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000084.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000084.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1281e9984d2b3923e958aebe74d091f1df6fa183
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000084.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56cd91a2019563d867ad460d1b4b57f616a1bd5540fd3f8bf5afccad06abe451
+size 63395
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000085.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000085.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..866c8f2eecab90c72cc3648890343cffb8a60bea
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000085.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ccd10db57d7cf152280c69bdf9ce05f648d26ea0067a93142e27163341189c1
+size 63202
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000086.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000086.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bda882769b2f5849c97ce375dca9e8f9cee23a57
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000086.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6759f82acddad9f1833f70eb1f154bf2a80a7e22475ca87c193d0c2a049bed8
+size 61111
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000087.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000087.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c8f4c950fdace6fc5086e076c7fec12dfbceb3a9
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000087.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f79d95079da5c4c943fd06132e0b34d08ece5d708a2769ea68f15315c02cf953
+size 60899
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000088.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000088.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2b59cd208b279a1bc73ebafbe6d7af968e7648af
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000088.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff1a27d34a35d2acdcc0cee887c9e0303970632d3664aa96995428a56e48422f
+size 59495
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000089.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000089.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9a69bc7470a4c44a85629f26f186c1bffcee0feb
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000089.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd9f8b6b360f7471c7e2c018e7773ae6ccac127dc50d2b2465d37dc06b094905
+size 56842
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000090.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000090.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..96958a6f3ad1b48e60ba7bd8bda6a0f0f873387d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000090.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bc32093abcaa0a989269acce383bff3bcdb54ed346a5d6e7663609669522135
+size 57707
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000091.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000091.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bcac74af9bed4453400bdf1ddbfdca375769e3c8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000091.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0533b07e0cc9f1ecf94fcefc8d2668b8e0c7974a0029ee3c73aa51759382904f
+size 57322
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000092.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000092.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8d4ce50453c4ceb6f79ba5970ab00fa9e267f556
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000092.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ac9c1ddbdb93c289fb8eeef499d8331dfc5d7f309a923746493ac8a7a2b391e
+size 57384
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000093.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000093.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..30041996effafafe117985eaf7f92e2f4005ad68
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000093.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b994e8161fbc757e6528334ced401656e7aa116dfa2f313c275a84d3191f2f58
+size 62750
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000094.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000094.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..860a7a0d7616f3f5170002a564edf0b2116a2b27
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000094.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7977c9720f8fc2afaada9dd2bc86c1fcb49af1d7400bd3b29a14ec7d5b4bf67
+size 59357
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000095.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000095.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3058d9a7eed0ee2adee8db498ccfa6ca0b9a55ce
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000095.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b5fafcfb87206641bad85510b5c4aa44eafd57b7aa20542f725ad0ac297ae52
+size 60176
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000096.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000096.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3646d105260e6020e73c0170d5af96b369a11a41
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000096.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b42c10f9cf217c43664bcf975fc02db1db87a59340343330ae4f1742a1e5afed
+size 65294
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000097.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000097.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e32c13e4278a37ee0b6c5e1ac1d4121bb8ee20be
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000097.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8ba6adf96f3e97d225611546c14d69dc9d497e5e434aaba6be556a391be3fae
+size 65188
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000098.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000098.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a054ed88d7d72800fa3533669c734c381ca52fa1
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000098.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cbcddb93b5c9dbebcd8aedefa9157745b036ec9577cbb2220a3b52451657d53
+size 53867
diff --git a/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000099.parquet b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000099.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b8a0e55b88abb3bb2827ee3f7dc50de5edfef322
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/data/chunk-000/episode_000099.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d63b286df9a00f91937ab13b2084f9052dda821e51b8c1c464df1fff3f0b788
+size 59323
diff --git a/Simulation/GelSight_mini/insert_USB/meta/conversion_manifest.jsonl b/Simulation/GelSight_mini/insert_USB/meta/conversion_manifest.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d1be9c600e28bf77a743a28d0747bd90293e30e5
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/meta/conversion_manifest.jsonl
@@ -0,0 +1,100 @@
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "1", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/1.hdf5", "episode_index": 0, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 242, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "2", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/2.hdf5", "episode_index": 1, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 229, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "3", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/3.hdf5", "episode_index": 2, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 227, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "4", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/4.hdf5", "episode_index": 3, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 212, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "7", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/7.hdf5", "episode_index": 4, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 238, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "8", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/8.hdf5", "episode_index": 5, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 235, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "9", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/9.hdf5", "episode_index": 6, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 241, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "10", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/10.hdf5", "episode_index": 7, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 219, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "11", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/11.hdf5", "episode_index": 8, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 222, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "12", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/12.hdf5", "episode_index": 9, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 233, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "13", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/13.hdf5", "episode_index": 10, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 237, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "14", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/14.hdf5", "episode_index": 11, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 251, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "16", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/16.hdf5", "episode_index": 12, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 234, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "17", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/17.hdf5", "episode_index": 13, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 237, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "19", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/19.hdf5", "episode_index": 14, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 253, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "20", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/20.hdf5", "episode_index": 15, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 217, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "22", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/22.hdf5", "episode_index": 16, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 248, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "23", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/23.hdf5", "episode_index": 17, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 232, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "25", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/25.hdf5", "episode_index": 18, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 255, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "28", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/28.hdf5", "episode_index": 19, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 246, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "31", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/31.hdf5", "episode_index": 20, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 241, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "32", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/32.hdf5", "episode_index": 21, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 222, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "33", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/33.hdf5", "episode_index": 22, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 234, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "37", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/37.hdf5", "episode_index": 23, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 226, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "38", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/38.hdf5", "episode_index": 24, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 239, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "41", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/41.hdf5", "episode_index": 25, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 219, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "42", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/42.hdf5", "episode_index": 26, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 219, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "43", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/43.hdf5", "episode_index": 27, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 224, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "45", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/45.hdf5", "episode_index": 28, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 269, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "48", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/48.hdf5", "episode_index": 29, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 219, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "49", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/49.hdf5", "episode_index": 30, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 224, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "50", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/50.hdf5", "episode_index": 31, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 210, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "51", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/51.hdf5", "episode_index": 32, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 223, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "52", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/52.hdf5", "episode_index": 33, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 236, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "53", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/53.hdf5", "episode_index": 34, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 243, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "54", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/54.hdf5", "episode_index": 35, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 244, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "55", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/55.hdf5", "episode_index": 36, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 248, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "59", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/59.hdf5", "episode_index": 37, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 255, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "60", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/60.hdf5", "episode_index": 38, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 235, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "62", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/62.hdf5", "episode_index": 39, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 225, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "64", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/64.hdf5", "episode_index": 40, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 225, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "66", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/66.hdf5", "episode_index": 41, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 250, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "67", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/67.hdf5", "episode_index": 42, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 237, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "70", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/70.hdf5", "episode_index": 43, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 265, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "71", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/71.hdf5", "episode_index": 44, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 236, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "72", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/72.hdf5", "episode_index": 45, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 214, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "74", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/74.hdf5", "episode_index": 46, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 205, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "76", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/76.hdf5", "episode_index": 47, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 238, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "77", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/77.hdf5", "episode_index": 48, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 236, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "79", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/79.hdf5", "episode_index": 49, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 240, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "80", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/80.hdf5", "episode_index": 50, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 217, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "83", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/83.hdf5", "episode_index": 51, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 248, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "84", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/84.hdf5", "episode_index": 52, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 224, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "85", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/85.hdf5", "episode_index": 53, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 237, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "86", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/86.hdf5", "episode_index": 54, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 234, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "87", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/87.hdf5", "episode_index": 55, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 233, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "88", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/88.hdf5", "episode_index": 56, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 237, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "90", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/90.hdf5", "episode_index": 57, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 256, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "92", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/92.hdf5", "episode_index": 58, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 235, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "93", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/93.hdf5", "episode_index": 59, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 226, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "96", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/96.hdf5", "episode_index": 60, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 227, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "97", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/97.hdf5", "episode_index": 61, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 221, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "98", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/98.hdf5", "episode_index": 62, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 215, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "99", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/99.hdf5", "episode_index": 63, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 216, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "100", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/100.hdf5", "episode_index": 64, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 214, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "101", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/101.hdf5", "episode_index": 65, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 213, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "102", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/102.hdf5", "episode_index": 66, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 241, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "105", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/105.hdf5", "episode_index": 67, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 253, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "109", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/109.hdf5", "episode_index": 68, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 210, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "110", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/110.hdf5", "episode_index": 69, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 219, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "111", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/111.hdf5", "episode_index": 70, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 248, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "113", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/113.hdf5", "episode_index": 71, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 264, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "114", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/114.hdf5", "episode_index": 72, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 212, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "115", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/115.hdf5", "episode_index": 73, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 217, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "117", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/117.hdf5", "episode_index": 74, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 268, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "119", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/119.hdf5", "episode_index": 75, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 242, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "120", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/120.hdf5", "episode_index": 76, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 226, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "125", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/125.hdf5", "episode_index": 77, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 254, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "126", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/126.hdf5", "episode_index": 78, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 239, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "129", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/129.hdf5", "episode_index": 79, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 272, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "131", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/131.hdf5", "episode_index": 80, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 220, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "132", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/132.hdf5", "episode_index": 81, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 240, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "133", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/133.hdf5", "episode_index": 82, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 232, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "134", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/134.hdf5", "episode_index": 83, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 249, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "135", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/135.hdf5", "episode_index": 84, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 252, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "136", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/136.hdf5", "episode_index": 85, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 254, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "138", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/138.hdf5", "episode_index": 86, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 243, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "140", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/140.hdf5", "episode_index": 87, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 242, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "142", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/142.hdf5", "episode_index": 88, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 239, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "143", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/143.hdf5", "episode_index": 89, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 222, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "144", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/144.hdf5", "episode_index": 90, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 227, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "145", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/145.hdf5", "episode_index": 91, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 223, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "146", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/146.hdf5", "episode_index": 92, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 227, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "151", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/151.hdf5", "episode_index": 93, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 250, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "152", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/152.hdf5", "episode_index": 94, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 233, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "153", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/153.hdf5", "episode_index": 95, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 238, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "155", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/155.hdf5", "episode_index": 96, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 261, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "156", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/156.hdf5", "episode_index": 97, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 258, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "158", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/158.hdf5", "episode_index": 98, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 209, "source_step_gaps": []}
+{"batch_key": "insert_USB", "source_task": ".", "source_episode_id": "159", "source_path": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB/159.hdf5", "episode_index": 99, "instruction": "Pick up the USB plug from the blue slot and insert it into the red USB slot.", "frame_count": 234, "source_step_gaps": []}
diff --git a/Simulation/GelSight_mini/insert_USB/meta/dataset_metadata.json b/Simulation/GelSight_mini/insert_USB/meta/dataset_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3a149278d482214bda857ff1c0c64d577e0403a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/meta/dataset_metadata.json
@@ -0,0 +1,39 @@
+{
+  "batch_key": "insert_USB",
+  "domain": "simulation",
+  "source_root": "/data/home/liqin/dataset/OpenViTac/Simulation/GelSight_mini/insert_USB",
+  "source_variants": [
+    "."
+  ],
+  "instructions": [
+    "Pick up the USB plug from the blue slot and insert it into the red USB slot."
+  ],
+  "robot": "Franka",
+  "tactile_sensor": "GelSight_mini_simulated",
+  "fps": 60,
+  "fps_basis": "120 Hz simulation, nominal source step interval 2",
+  "source_step_gap_policy": "timestamps use frame_index / 60; source step exceptions are retained in conversion_manifest.jsonl",
+  "eef_frame": "simulation_world",
+  "source_quaternion_order": "wxyz",
+  "stored_quaternion_order": "xyzw",
+  "rotation_matrix_flattening": "row_major",
+  "joint_position_units": "radians",
+  "finger_position_units": "metres",
+  "gripper_width_m": "left_finger_m + right_finger_m",
+  "gripper_open_fraction": "clip((left_finger_m + right_finger_m) / 0.08, 0, 1); 0 closed, 1 fully open",
+  "action": null,
+  "source_image_channel_order": "BGR",
+  "stored_video_channel_order": "RGB",
+  "image_channel_correction": "swap red and blue before video encoding and image statistics",
+  "image_sources": {
+    "observation.images.head": "observation/head/rgb",
+    "observation.images.wrist": "observation/wrist/rgb",
+    "observation.images.tactile_left": "tactile/left_tactile/rgb_marker",
+    "observation.images.tactile_right": "tactile/right_tactile/rgb_marker"
+  },
+  "image_statistics": "LeRobot v2.1 sampling policy applied to decoded, channel-corrected HDF5 images",
+  "lerobot_codebase_version": "v2.1",
+  "lerobot_commit": "0cf864870cf29f4738d3ade893e6fd13fbd7cdb5",
+  "episodes": 100,
+  "frames": 23480
+}
diff --git a/Simulation/GelSight_mini/insert_USB/meta/episodes.jsonl b/Simulation/GelSight_mini/insert_USB/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4e44f1bc5c088758c454a05b47ee7993e89ee362
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/meta/episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_index": 0, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 242}
+{"episode_index": 1, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 229}
+{"episode_index": 2, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 227}
+{"episode_index": 3, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 212}
+{"episode_index": 4, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 238}
+{"episode_index": 5, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 235}
+{"episode_index": 6, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 241}
+{"episode_index": 7, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 219}
+{"episode_index": 8, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 222}
+{"episode_index": 9, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 233}
+{"episode_index": 10, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 237}
+{"episode_index": 11, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 251}
+{"episode_index": 12, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 234}
+{"episode_index": 13, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 237}
+{"episode_index": 14, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 253}
+{"episode_index": 15, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 217}
+{"episode_index": 16, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 248}
+{"episode_index": 17, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 232}
+{"episode_index": 18, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 255}
+{"episode_index": 19, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 246}
+{"episode_index": 20, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 241}
+{"episode_index": 21, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 222}
+{"episode_index": 22, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 234}
+{"episode_index": 23, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 226}
+{"episode_index": 24, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 239}
+{"episode_index": 25, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 219}
+{"episode_index": 26, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 219}
+{"episode_index": 27, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 224}
+{"episode_index": 28, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 269}
+{"episode_index": 29, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 219}
+{"episode_index": 30, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 224}
+{"episode_index": 31, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 210}
+{"episode_index": 32, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 223}
+{"episode_index": 33, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 236}
+{"episode_index": 34, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 243}
+{"episode_index": 35, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 244}
+{"episode_index": 36, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 248}
+{"episode_index": 37, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 255}
+{"episode_index": 38, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 235}
+{"episode_index": 39, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 225}
+{"episode_index": 40, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 225}
+{"episode_index": 41, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 250}
+{"episode_index": 42, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 237}
+{"episode_index": 43, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 265}
+{"episode_index": 44, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 236}
+{"episode_index": 45, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 214}
+{"episode_index": 46, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 205}
+{"episode_index": 47, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 238}
+{"episode_index": 48, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 236}
+{"episode_index": 49, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 240}
+{"episode_index": 50, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 217}
+{"episode_index": 51, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 248}
+{"episode_index": 52, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 224}
+{"episode_index": 53, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 237}
+{"episode_index": 54, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 234}
+{"episode_index": 55, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 233}
+{"episode_index": 56, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 237}
+{"episode_index": 57, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 256}
+{"episode_index": 58, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 235}
+{"episode_index": 59, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 226}
+{"episode_index": 60, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 227}
+{"episode_index": 61, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 221}
+{"episode_index": 62, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 215}
+{"episode_index": 63, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 216}
+{"episode_index": 64, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 214}
+{"episode_index": 65, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 213}
+{"episode_index": 66, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 241}
+{"episode_index": 67, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 253}
+{"episode_index": 68, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 210}
+{"episode_index": 69, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 219}
+{"episode_index": 70, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 248}
+{"episode_index": 71, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 264}
+{"episode_index": 72, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 212}
+{"episode_index": 73, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 217}
+{"episode_index": 74, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 268}
+{"episode_index": 75, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 242}
+{"episode_index": 76, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 226}
+{"episode_index": 77, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 254}
+{"episode_index": 78, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 239}
+{"episode_index": 79, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 272}
+{"episode_index": 80, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 220}
+{"episode_index": 81, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 240}
+{"episode_index": 82, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 232}
+{"episode_index": 83, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 249}
+{"episode_index": 84, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 252}
+{"episode_index": 85, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 254}
+{"episode_index": 86, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 243}
+{"episode_index": 87, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 242}
+{"episode_index": 88, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 239}
+{"episode_index": 89, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 222}
+{"episode_index": 90, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 227}
+{"episode_index": 91, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 223}
+{"episode_index": 92, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 227}
+{"episode_index": 93, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 250}
+{"episode_index": 94, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 233}
+{"episode_index": 95, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 238}
+{"episode_index": 96, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 261}
+{"episode_index": 97, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 258}
+{"episode_index": 98, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 209}
+{"episode_index": 99, "tasks": ["Pick up the USB plug from the blue slot and insert it into the red USB slot."], "length": 234}
diff --git a/Simulation/GelSight_mini/insert_USB/meta/episodes_stats.jsonl b/Simulation/GelSight_mini/insert_USB/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b53d28fede3b260405ad4033f00b91e34e720d5b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/meta/episodes_stats.jsonl
@@ -0,0 +1,100 @@
+{"episode_index": 0, "stats": {"observation.state": {"min": [-0.010825653560459614, 0.03577037900686264, -0.018217073753476143, -2.7657113075256348, -0.030930452048778534, 2.500838041305542, 0.7409999966621399, 0.0], "max": [0.050631795078516006, 0.3866141140460968, 0.025601936504244804, -2.2962355613708496, 0.035354528576135635, 2.9445481300354004, 0.87783282995224, 0.47733747959136963], "mean": [0.020250197499990463, 0.23111476004123688, -0.001840130309574306, -2.4874329566955566, -0.014217846095561981, 2.771094799041748, 0.8204501271247864, 0.0974218025803566], "std": [0.018460188060998917, 0.1296500265598297, 0.01699967496097088, 0.20909056067466736, 0.014395895414054394, 0.11653056740760803, 0.040971338748931885, 0.18640314042568207], "count": [242]}, "observation.joint_position": {"min": [-0.010825653560459614, 0.03577037900686264, -0.018217073753476143, -2.7657113075256348, -0.030930452048778534, 2.500838041305542, 0.7409999966621399], "max": [0.050631795078516006, 0.3866141140460968, 0.025601936504244804, -2.2962355613708496, 0.035354528576135635, 2.9445481300354004, 0.87783282995224], "mean": [0.020250197499990463, 0.23111476004123688, -0.001840130309574306, -2.4874329566955566, -0.014217846095561981, 2.771094799041748, 0.8204501271247864], "std": [0.018460188060998917, 0.1296500265598297, 0.01699967496097088, 0.20909056067466736, 0.014395895414054394, 0.11653056740760803, 0.040971338748931885], "count": [242]}, "observation.eef_pose_quaternion": {"min": [0.391437292098999, -0.006116827484220266, 0.18322871625423431, 0.9974441528320312, -0.011015165597200394, -0.013821080327033997, -0.010781326331198215], "max": [0.5329074859619141, 0.03143820911645889, 0.2634398639202118, 0.9999959468841553, 0.004505447577685118, 0.07058050483465195, 0.0066016376949846745], "mean": [0.4760952293872833, 0.007392924278974533, 0.20265620946884155, 0.9995332360267639, -0.0012634418671950698, 0.026318304240703583, 0.002485699951648712], "std": [0.06372470408678055, 0.014811383560299873, 0.021375274285674095, 0.00045442875125445426, 0.002722984179854393, 0.014387430623173714, 0.004342443309724331], "count": [242]}, "observation.eef_pose_rotvec": {"min": [0.391437292098999, -0.006116827484220266, 0.18322871625423431, -3.141317129135132, -0.034549862146377563, -0.16045863926410675], "max": [0.5329074859619141, 0.03143820911645889, 0.2634398639202118, 3.14034104347229, 0.025012096390128136, 0.221237450838089], "mean": [0.4760952293872833, 0.007392924278974533, 0.20265620946884155, 1.3703089952468872, -0.004393531940877438, 0.049150846898555756], "std": [0.06372470408678055, 0.014811383560299873, 0.021375274285674095, 2.816798448562622, 0.008324509486556053, 0.08018385618925095], "count": [242]}, "observation.eef_rotation_matrix": {"min": [0.989815354347229, -0.022325832396745682, -0.02769903466105461, -0.021673284471035004, -1.0, -0.013280682265758514, -0.027576573193073273, -0.021637748926877975, -0.9999898672103882], "max": [0.9999917149543762, 0.009038737043738365, 0.14072585105895996, 0.008973763324320316, -0.9997446537017822, 0.021480759605765343, 0.1408746838569641, 0.01311990525573492, -0.9900117516517639], "mean": [0.998183012008667, -0.0027051737997680902, 0.05258637294173241, -0.0023424227256327868, -0.9999321699142456, -0.0050872331485152245, 0.05261578410863876, 0.00485047185793519, -0.9981504678726196], "std": [0.0018314702901989222, 0.005506655666977167, 0.028723224997520447, 0.0053720357827842236, 6.444189784815535e-05, 0.008715007454156876, 0.02872677706182003, 0.008660757914185524, 0.0017734331777319312], "count": [242]}, "observation.gripper": {"min": [0.0], "max": [0.47733747959136963], "mean": [0.09742188453674316], "std": [0.1864030957221985], "count": [242]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909552328288555, 0.019096650183200836], "mean": [0.00389687973074615, 0.0038968692533671856], "std": [0.007456076331436634, 0.007456144317984581], "count": [242]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186997175216675], "mean": [0.007793750613927841], "std": [0.014912248589098454], "count": [242]}, "timestamp": {"min": [0.0], "max": [4.016666666666667], "mean": [2.0083333333333333], "std": [1.164313102219502], "count": [242]}, "frame_index": {"min": [0], "max": [241], "mean": [120.5], "std": [69.85878613317011], "count": [242]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [242]}, "index": {"min": [0], "max": [241], "mean": [120.5], "std": [69.85878613317011], "count": [242]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [242]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6285944689542483]], [[0.6021951715686275]], [[0.5733035784313725]]], "std": [[[0.18769521051845262]], [[0.19263023392421302]], [[0.20191822460960734]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9529411764705882]], [[0.9686274509803922]]], "mean": [[[0.5019243137254902]], [[0.4777045370370371]], [[0.44853892701525055]]], "std": [[[0.18323309265037685]], [[0.18512439452505305]], [[0.18964096373996855]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7490196078431373]], [[0.6823529411764706]], [[0.7411764705882353]]], "mean": [[[0.332873137254902]], [[0.4080867279411765]], [[0.48130988970588234]]], "std": [[[0.1480196783421254]], [[0.11637433475842075]], [[0.1503509612974013]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7725490196078432]], [[0.6862745098039216]], [[0.7490196078431373]]], "mean": [[[0.3301388929738562]], [[0.41918513071895425]], [[0.4819011866830065]]], "std": [[[0.14524808261072017]], [[0.12224368319634774]], [[0.15282968996114682]]], "count": [100]}}}
+{"episode_index": 1, "stats": {"observation.state": {"min": [-0.02913854829967022, 0.001135192345827818, -0.02607889287173748, -2.796818971633911, -0.008829517289996147, 2.50079607963562, 0.7409999370574951, 0.0], "max": [-0.010804186575114727, 0.3347289264202118, 0.0007343445904552937, -2.353506326675415, 0.035354409366846085, 2.9091999530792236, 0.7559607028961182, 0.4773358106613159], "mean": [-0.025093071162700653, 0.1925344169139862, -0.014193728566169739, -2.5327258110046387, 0.00043630567961372435, 2.7111458778381348, 0.7478751540184021, 0.1016332358121872], "std": [0.004174067173153162, 0.11622104048728943, 0.01117420382797718, 0.1960378885269165, 0.011017990298569202, 0.13132193684577942, 0.003128055017441511, 0.189123272895813], "count": [229]}, "observation.joint_position": {"min": [-0.02913854829967022, 0.001135192345827818, -0.02607889287173748, -2.796818971633911, -0.008829517289996147, 2.50079607963562, 0.7409999370574951], "max": [-0.010804186575114727, 0.3347289264202118, 0.0007343445904552937, -2.353506326675415, 0.035354409366846085, 2.9091999530792236, 0.7559607028961182], "mean": [-0.025093071162700653, 0.1925344169139862, -0.014193728566169739, -2.5327258110046387, 0.00043630567961372435, 2.7111458778381348, 0.7478751540184021], "std": [0.004174067173153162, 0.11622104048728943, 0.01117420382797718, 0.1960378885269165, 0.011017990298569202, 0.13132193684577942, 0.003128055017441511], "count": [229]}, "observation.eef_pose_quaternion": {"min": [0.3770730793476105, -0.025684265419840813, 0.18269243836402893, 0.9996465444564819, -0.006664334796369076, -0.02635590359568596, -0.010781459510326385], "max": [0.5093263387680054, -0.005121009424328804, 0.26345592737197876, 0.999997615814209, 0.0028405352495610714, 0.015730995684862137, 0.005111099220812321], "mean": [0.4559866487979889, -0.018634529784321785, 0.201213076710701, 0.9998480677604675, -0.0008209089282900095, -0.00712874811142683, 0.0015668155392631888], "std": [0.05716831982135773, 0.007040378171950579, 0.020681506022810936, 0.00010043496877187863, 0.0014043219853192568, 0.015249882824718952, 0.003925689496099949], "count": [229]}, "observation.eef_pose_rotvec": {"min": [0.3770730793476105, -0.025684265419840813, 0.18269243836402893, -3.141406297683716, -0.008863069117069244, -0.0826265811920166], "max": [0.5093263387680054, -0.005121009424328804, 0.26345592737197876, 3.141498565673828, 0.02087937667965889, 0.04941648244857788], "mean": [0.4559866487979889, -0.018634529784321785, 0.201213076710701, 1.0254307985305786, -0.0012814371148124337, -0.03192681819200516], "std": [0.05716831982135773, 0.007040378171950579, 0.020681506022810936, 2.96239972114563, 0.004929627291858196, 0.0419921912252903], "count": [229]}, "observation.eef_rotation_matrix": {"min": [0.9986088275909424, -0.01331245806068182, -0.05269959196448326, -0.013343999162316322, -1.0, -0.010168678127229214, -0.05268679931759834, -0.021638041362166405, -0.9999980926513672], "max": [0.9999920129776001, 0.005382144823670387, 0.03145813196897507, 0.0059782057069242, -0.9997513890266418, 0.021480999886989594, 0.031458064913749695, 0.01027112826704979, -0.9985890984535217], "mean": [0.9994279742240906, -0.0015612433198839426, -0.014257960021495819, -0.001721841748803854, -0.9999570250511169, -0.0031099235638976097, -0.014247186481952667, 0.003155493875965476, -0.999397337436676], "std": [0.0003907828067895025, 0.00275459629483521, 0.03050084412097931, 0.002867051400244236, 5.510203118319623e-05, 0.007822195068001747, 0.03048686869442463, 0.007877862080931664, 0.00040445561171509326], "count": [229]}, "observation.gripper": {"min": [0.0], "max": [0.4773358106613159], "mean": [0.10163330286741257], "std": [0.1891232281923294], "count": [229]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019093921408057213, 0.01909458078444004], "mean": [0.004065326880663633, 0.0040653361938893795], "std": [0.007564934436231852, 0.007564943749457598], "count": [229]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818686306476593], "mean": [0.008130664005875587], "std": [0.015129857696592808], "count": [229]}, "timestamp": {"min": [0.0], "max": [3.8], "mean": [1.9000000000000001], "std": [1.1017662587358938], "count": [229]}, "frame_index": {"min": [0], "max": [228], "mean": [114.0], "std": [66.10597552415364], "count": [229]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [229]}, "index": {"min": [242], "max": [470], "mean": [356.0], "std": [66.10597552415364], "count": [229]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [229]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6223946895424837]], [[0.6022761029411765]], [[0.5722747331154684]]], "std": [[[0.18561037887795978]], [[0.1895523662670922]], [[0.19881191921109637]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9450980392156862]], [[0.9490196078431372]]], "mean": [[[0.5010334912854031]], [[0.4752679438997821]], [[0.4471456209150327]]], "std": [[[0.18451885965076742]], [[0.1855148816651609]], [[0.18990785560296888]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6862745098039216]], [[0.6862745098039216]], [[0.7411764705882353]]], "mean": [[[0.332619591503268]], [[0.40796790032679736]], [[0.48145313725490196]]], "std": [[[0.1468809853080394]], [[0.11600362672024317]], [[0.15040937684164757]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7333333333333333]], [[0.6941176470588235]], [[0.7607843137254902]]], "mean": [[[0.3293157536764706]], [[0.41940487745098043]], [[0.48204448733660127]]], "std": [[[0.1433555136641433]], [[0.12275196531909822]], [[0.15340488104973932]]], "count": [100]}}}
+{"episode_index": 2, "stats": {"observation.state": {"min": [-0.029487941414117813, -0.0438520647585392, -0.025008058175444603, -2.827671527862549, 0.0012198738986626267, 2.5007922649383545, 0.733130931854248, 0.0], "max": [-0.010760722681879997, 0.3592653274536133, 0.0007347509963437915, -2.3290936946868896, 0.03535439074039459, 2.924497127532959, 0.7509876489639282, 0.47733598947525024], "mean": [-0.020011382177472115, 0.194802924990654, -0.017792122438549995, -2.535508394241333, 0.013133120723068714, 2.7419161796569824, 0.7366810441017151, 0.10042711347341537], "std": [0.0054795509204268456, 0.1387716382741928, 0.00644248491153121, 0.22044645249843597, 0.007192456629127264, 0.11889791488647461, 0.0040319254621863365, 0.18818576633930206], "count": [227]}, "observation.joint_position": {"min": [-0.029487941414117813, -0.0438520647585392, -0.025008058175444603, -2.827671527862549, 0.0012198738986626267, 2.5007922649383545, 0.733130931854248], "max": [-0.010760722681879997, 0.3592653274536133, 0.0007347509963437915, -2.3290936946868896, 0.03535439074039459, 2.924497127532959, 0.7509876489639282], "mean": [-0.020011382177472115, 0.194802924990654, -0.017792122438549995, -2.535508394241333, 0.013133120723068714, 2.7419161796569824, 0.7366810441017151], "std": [0.0054795509204268456, 0.1387716382741928, 0.00644248491153121, 0.22044645249843597, 0.007192456629127264, 0.11889791488647461, 0.0040319254621863365], "count": [227]}, "observation.eef_pose_quaternion": {"min": [0.36805713176727295, -0.02443970926105976, 0.1822679042816162, 0.9995545148849487, -0.005880633369088173, -0.0208175890147686, -0.010781640186905861], "max": [0.5209671854972839, -0.005121375899761915, 0.2634570300579071, 0.9999998807907104, 0.002839065622538328, 0.029740700498223305, 0.0017309777904301882], "mean": [0.45739248394966125, -0.01787755824625492, 0.20125025510787964, 0.9999379515647888, -0.00012017675180686638, 0.0058513786643743515, -0.0005240946193225682], "std": [0.06717325001955032, 0.004348766058683395, 0.02131742052733898, 7.864701910875738e-05, 0.001410956960171461, 0.008991844952106476, 0.00261917756870389], "count": [227]}, "observation.eef_pose_rotvec": {"min": [0.36805713176727295, -0.02443970926105976, 0.1822679042816162, -3.1413462162017822, -0.018463701009750366, -0.04377588629722595], "max": [0.5209671854972839, -0.005121375899761915, 0.2634570300579071, 3.1414129734039307, 0.010088755749166012, 0.09333270788192749], "mean": [0.45739248394966125, -0.01787755824625492, 0.20125025510787964, 0.9282974600791931, -0.0001618815731490031, 0.01067279651761055], "std": [0.06717325001955032, 0.004348766058683395, 0.02131742052733898, 2.9989423751831055, 0.004437768831849098, 0.03192157670855522], "count": [227]}, "observation.eef_rotation_matrix": {"min": [0.998224675655365, -0.011787121184170246, -0.041593004018068314, -0.011732417158782482, -1.0, -0.003611163003370166, -0.04165758192539215, -0.021638337522745132, -0.9999997615814209], "max": [0.9999998807907104, 0.005379292648285627, 0.05944892391562462, 0.005975219886749983, -0.9997513890266418, 0.021481424570083618, 0.05946091562509537, 0.0033098054118454456, -0.9982252717018127], "mean": [0.9997658133506775, -0.00026914975023828447, 0.011699833907186985, -0.00021136569557711482, -0.9999820590019226, 0.001039527473039925, 0.011703833937644958, -0.0010564308613538742, -0.9997554421424866], "std": [0.0002982545120175928, 0.0028140379581600428, 0.017982421442866325, 0.0028310734778642654, 5.386030534282327e-05, 0.005236079916357994, 0.017977917566895485, 0.005239228717982769, 0.00031023527844808996], "count": [227]}, "observation.gripper": {"min": [0.0], "max": [0.47733598947525024], "mean": [0.10042718052864075], "std": [0.18818575143814087], "count": [227]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909460686147213, 0.019094591960310936], "mean": [0.004017089493572712, 0.004017082042992115], "std": [0.007527437061071396, 0.007527428213506937], "count": [227]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186877965927124], "mean": [0.008034173399209976], "std": [0.015054861083626747], "count": [227]}, "timestamp": {"min": [0.0], "max": [3.7666666666666666], "mean": [1.8833333333333333], "std": [1.0921436616937252], "count": [227]}, "frame_index": {"min": [0], "max": [226], "mean": [113.0], "std": [65.5286197016235], "count": [227]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [227]}, "index": {"min": [471], "max": [697], "mean": [584.0], "std": [65.5286197016235], "count": [227]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [227]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6258058197167756]], [[0.6006033197167756]], [[0.5711128703703704]]], "std": [[[0.18502393375223652]], [[0.19164729437545544]], [[0.2007645898495153]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9450980392156862]], [[0.9529411764705882]]], "mean": [[[0.5008274319172114]], [[0.47699026688453156]], [[0.4487720179738562]]], "std": [[[0.1834641601153086]], [[0.1850978955527718]], [[0.18939360453585707]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7294117647058823]], [[0.6941176470588235]], [[0.7607843137254902]]], "mean": [[[0.33041718545751636]], [[0.4071519056372549]], [[0.48246458741830067]]], "std": [[[0.14675845770836754]], [[0.11512588977303555]], [[0.151489789214544]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7607843137254902]], [[0.6823529411764706]], [[0.7843137254901961]]], "mean": [[[0.3295570996732026]], [[0.4180449734477124]], [[0.4802680555555556]]], "std": [[[0.1466671376093649]], [[0.12226661854228817]], [[0.1527118918048753]]], "count": [100]}}}
+{"episode_index": 3, "stats": {"observation.state": {"min": [-0.01385351549834013, 0.05141874775290489, -0.021482588723301888, -2.6626484394073486, -0.005735932383686304, 2.500805616378784, 0.7409999966621399, 0.0], "max": [0.0013265903107821941, 0.3888452351093292, 0.0022086265962570906, -2.2876696586608887, 0.035372015088796616, 2.857032537460327, 0.787693202495575, 0.4773360788822174], "mean": [-0.007323021534830332, 0.2511805295944214, -0.011039571836590767, -2.440119981765747, -7.074869063217193e-05, 2.717224597930908, 0.7698618769645691, 0.09544562548398972], "std": [0.006261217407882214, 0.1179095208644867, 0.010570031590759754, 0.16793525218963623, 0.009900909848511219, 0.09003285318613052, 0.01382531225681305, 0.18402224779129028], "count": [212]}, "observation.joint_position": {"min": [-0.01385351549834013, 0.05141874775290489, -0.021482588723301888, -2.6626484394073486, -0.005735932383686304, 2.500805616378784, 0.7409999966621399], "max": [0.0013265903107821941, 0.3888452351093292, 0.0022086265962570906, -2.2876696586608887, 0.035372015088796616, 2.857032537460327, 0.787693202495575], "mean": [-0.007323021534830332, 0.2511805295944214, -0.011039571836590767, -2.440119981765747, -7.074869063217193e-05, 2.717224597930908, 0.7698618769645691], "std": [0.006261217407882214, 0.1179095208644867, 0.010570031590759754, 0.16793525218963623, 0.009900909848511219, 0.09003285318613052, 0.01382531225681305], "count": [212]}, "observation.eef_pose_quaternion": {"min": [0.42169395089149475, -0.018396766856312752, 0.1828514039516449, 0.9996247887611389, -0.00519271194934845, -0.01382480002939701, -0.010781117714941502], "max": [0.5346493721008301, 0.0008111614151857793, 0.26345008611679077, 0.9999844431877136, 0.002840460743755102, 0.02684159204363823, 0.005560235120356083], "mean": [0.488445907831192, -0.009887062944471836, 0.20330703258514404, 0.9998769760131836, -0.0009214343153871596, 0.012919671833515167, 0.0020275611896067858], "std": [0.0504341796040535, 0.008757047355175018, 0.022059742361307144, 6.445879262173548e-05, 0.0014494636561721563, 0.007523627951741219, 0.004190847277641296], "count": [212]}, "observation.eef_pose_rotvec": {"min": [0.42169395089149475, -0.018396766856312752, 0.1828514039516449, -3.1414127349853516, -0.016311759129166603, -0.056377142667770386], "max": [0.5346493721008301, 0.0008111614151857793, 0.26345008611679077, 3.141371726989746, 0.015608922578394413, 0.08412370085716248], "mean": [0.488445907831192, -0.009887062944471836, 0.20330703258514404, 2.09993314743042, -0.0029355017468333244, 0.038991864770650864], "std": [0.0504341796040535, 0.008757047355175018, 0.022059742361307144, 2.326596260070801, 0.004510382190346718, 0.02597677707672119], "count": [212]}, "observation.eef_rotation_matrix": {"min": [0.9985278248786926, -0.010389457456767559, -0.027706487104296684, -0.010377045720815659, -1.0, -0.011167273856699467, -0.027583997696638107, -0.02163735032081604, -0.9999470114707947], "max": [0.9999898076057434, 0.005381978116929531, 0.05363326147198677, 0.005978073459118605, -0.9997513890266418, 0.021480323746800423, 0.05369282141327858, 0.011070117354393005, -0.9985306859016418], "mean": [0.9995462894439697, -0.00194923288654536, 0.025824548676609993, -0.0017358147306367755, -0.999952495098114, -0.004094823729246855, 0.025846831500530243, 0.0040140459313988686, -0.999509871006012], "std": [0.00024933365057222545, 0.00291325687430799, 0.015047604218125343, 0.0028863223269581795, 5.402665556175634e-05, 0.008389275521039963, 0.015040677040815353, 0.008372114039957523, 0.0002505489974282682], "count": [212]}, "observation.gripper": {"min": [0.0], "max": [0.4773360788822174], "mean": [0.09544570744037628], "std": [0.18402215838432312], "count": [212]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019093915820121765, 0.019094273447990417], "mean": [0.0038178274407982826, 0.0038178276736289263], "std": [0.007360879797488451, 0.00736091285943985], "count": [212]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818688541650772], "mean": [0.007635656278580427], "std": [0.014721771702170372], "count": [212]}, "timestamp": {"min": [0.0], "max": [3.5166666666666666], "mean": [1.7583333333333333], "std": [1.0199741282121926], "count": [212]}, "frame_index": {"min": [0], "max": [211], "mean": [105.5], "std": [61.198447692731555], "count": [212]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [212]}, "index": {"min": [698], "max": [909], "mean": [803.5], "std": [61.198447692731555], "count": [212]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [212]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6277867293028323]], [[0.6036941230936819]], [[0.5756698202614379]]], "std": [[[0.19186334185054754]], [[0.19479401597543233]], [[0.20459834892982043]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9411764705882353]], [[0.9490196078431372]]], "mean": [[[0.5014658442265795]], [[0.4764959586056645]], [[0.4473667293028322]]], "std": [[[0.18381214949218536]], [[0.18538183102578487]], [[0.18996082607835957]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7137254901960784]], [[0.6784313725490196]], [[0.7411764705882353]]], "mean": [[[0.332540631127451]], [[0.4081048774509804]], [[0.4811162295751634]]], "std": [[[0.14765327140774154]], [[0.11631184726195412]], [[0.15062146556349765]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7490196078431373]], [[0.6901960784313725]], [[0.7568627450980392]]], "mean": [[[0.3295163807189543]], [[0.41913285743464057]], [[0.4816555596405229]]], "std": [[[0.14537895522457403]], [[0.12230137612013327]], [[0.15320183641975738]]], "count": [100]}}}
+{"episode_index": 4, "stats": {"observation.state": {"min": [-0.010829632170498371, 0.03945082798600197, 0.00019556513871066272, -2.7725002765655518, -0.036014944314956665, 2.5008528232574463, 0.7409999966621399, 0.0], "max": [0.0480617992579937, 0.3033391535282135, 0.017422957345843315, -2.433037757873535, 0.03535473719239235, 2.9850564002990723, 0.8737370371818542, 0.4773365557193756], "mean": [0.03791876509785652, 0.1912214457988739, 0.0045988475903868675, -2.5691232681274414, -0.00807913113385439, 2.801675319671631, 0.8350625038146973, 0.10581152886152267], "std": [0.012948567979037762, 0.08463741838932037, 0.004485127050429583, 0.14263617992401123, 0.018356362357735634, 0.12487303465604782, 0.032137930393218994, 0.1923200637102127], "count": [238]}, "observation.joint_position": {"min": [-0.010829632170498371, 0.03945082798600197, 0.00019556513871066272, -2.7725002765655518, -0.036014944314956665, 2.5008528232574463, 0.7409999966621399], "max": [0.0480617992579937, 0.3033391535282135, 0.017422957345843315, -2.433037757873535, 0.03535473719239235, 2.9850564002990723, 0.8737370371818542], "mean": [0.03791876509785652, 0.1912214457988739, 0.0045988475903868675, -2.5691232681274414, -0.00807913113385439, 2.801675319671631, 0.8350625038146973], "std": [0.012948567979037762, 0.08463741838932037, 0.004485127050429583, 0.14263617992401123, 0.018356362357735634, 0.12487303465604782, 0.032137930393218994], "count": [238]}, "observation.eef_pose_quaternion": {"min": [0.3912111222743988, -0.005122215487062931, 0.18092137575149536, 0.9988153576850891, -0.003743910463526845, -0.0162062905728817, -0.01078110933303833], "max": [0.48681387305259705, 0.024928778409957886, 0.26343828439712524, 0.9999704957008362, 0.009881651028990746, 0.04865377023816109, 0.0006773954955860972], "mean": [0.45080962777137756, 0.019533218815922737, 0.19902697205543518, 0.9996057152748108, 0.0005057949456386268, 0.02070053294301033, -0.0011170225916430354], "std": [0.04215354844927788, 0.006332699209451675, 0.020235275849699974, 0.00039570240187458694, 0.0024250736460089684, 0.01857823319733143, 0.002333354437723756], "count": [238]}, "observation.eef_pose_rotvec": {"min": [0.3912111222743988, -0.005122215487062931, 0.18092137575149536, -3.140749454498291, -0.031018713489174843, -0.15281008183956146], "max": [0.48681387305259705, 0.024928778409957886, 0.26343828439712524, 3.1411237716674805, 0.029304709285497665, 0.13436315953731537], "mean": [0.45080962777137756, 0.019533218815922737, 0.19902697205543518, -1.423452377319336, -0.00012611948477569968, -0.0013273089425638318], "std": [0.04215354844927788, 0.006332699209451675, 0.020235275849699974, 2.7966132164001465, 0.007767713628709316, 0.08734951168298721], "count": [238]}, "observation.eef_rotation_matrix": {"min": [0.995265007019043, -0.007409220561385155, -0.03248954936861992, -0.007551846094429493, -1.0, -0.0013146456331014633, -0.03232366591691971, -0.02163730002939701, -0.9999940395355225], "max": [0.9998829960823059, 0.019726049154996872, 0.09719274193048477, 0.019795041531324387, -0.9997513890266418, 0.021480342373251915, 0.09719183295965195, 0.00144425209145993, -0.9952653050422668], "mean": [0.9984405636787415, 0.0010045144008472562, 0.04136648401618004, 0.001018810784444213, -0.9999751448631287, 0.0022036931477487087, 0.04137716069817543, -0.0022636617068201303, -0.9984394311904907], "std": [0.0015904605388641357, 0.004808447323739529, 0.03713380917906761, 0.00489069614559412, 6.535190914291888e-05, 0.0046366252936422825, 0.037110794335603714, 0.004696494434028864, 0.001588600454851985], "count": [238]}, "observation.gripper": {"min": [0.0], "max": [0.4773365557193756], "mean": [0.10581161081790924], "std": [0.19231998920440674], "count": [238]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909521035850048, 0.019095467403531075], "mean": [0.004232458770275116, 0.004232463426887989], "std": [0.007692803628742695, 0.007692811079323292], "count": [238]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186922669410706], "mean": [0.008464927785098553], "std": [0.015385598875582218], "count": [238]}, "timestamp": {"min": [0.0], "max": [3.95], "mean": [1.9749999999999999], "std": [1.145067926175367], "count": [238]}, "frame_index": {"min": [0], "max": [237], "mean": [118.5], "std": [68.70407557052202], "count": [238]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [238]}, "index": {"min": [910], "max": [1147], "mean": [1028.5], "std": [68.70407557052202], "count": [238]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [238]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6220499264705882]], [[0.5987781209150327]], [[0.5681698420479303]]], "std": [[[0.1841743413115183]], [[0.19109178702417676]], [[0.19886274048166763]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9372549019607843]], [[0.9450980392156862]]], "mean": [[[0.5037961846405229]], [[0.46930482570806104]], [[0.4411294117647059]]], "std": [[[0.1899674775022284]], [[0.18924660770922433]], [[0.19397902173263487]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7529411764705882]], [[0.6941176470588235]], [[0.7725490196078432]]], "mean": [[[0.33299802900326797]], [[0.40515975285947714]], [[0.4812253084150327]]], "std": [[[0.14857689803867039]], [[0.11528842712332427]], [[0.15045336528037231]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7686274509803922]], [[0.6941176470588235]], [[0.7686274509803922]]], "mean": [[[0.32990707516339873]], [[0.41474659926470586]], [[0.48118184640522876]]], "std": [[[0.14534448259424282]], [[0.12014021066708554]], [[0.1524892207044518]]], "count": [100]}}}
+{"episode_index": 5, "stats": {"observation.state": {"min": [-0.010814164765179157, -0.018705066293478012, -0.024805741384625435, -2.8354971408843994, -0.06547743082046509, 2.500824451446533, 0.7409999966621399, 0.0], "max": [0.07885093986988068, 0.34307849407196045, 0.009777063503861427, -2.4241931438446045, 0.035355959087610245, 3.0529730319976807, 0.9148190021514893, 0.4773378372192383], "mean": [0.02943156100809574, 0.20008696615695953, -0.010966494679450989, -2.5835604667663574, -0.010306272655725479, 2.8841426372528076, 0.814448356628418, 0.10235647857189178], "std": [0.03525439277291298, 0.11985814571380615, 0.0069461604580283165, 0.1834629327058792, 0.034398697316646576, 0.12636131048202515, 0.06898926943540573, 0.1898629367351532], "count": [235]}, "observation.joint_position": {"min": [-0.010814164765179157, -0.018705066293478012, -0.024805741384625435, -2.8354971408843994, -0.06547743082046509, 2.500824451446533, 0.7409999966621399], "max": [0.07885093986988068, 0.34307849407196045, 0.009777063503861427, -2.4241931438446045, 0.035355959087610245, 3.0529730319976807, 0.9148190021514893], "mean": [0.02943156100809574, 0.20008696615695953, -0.010966494679450989, -2.5835604667663574, -0.010306272655725479, 2.8841426372528076, 0.814448356628418], "std": [0.03525439277291298, 0.11985814571380615, 0.0069461604580283165, 0.1834629327058792, 0.034398697316646576, 0.12636131048202515, 0.06898926943540573], "count": [235]}, "observation.eef_pose_quaternion": {"min": [0.3732050359249115, -0.009451733902096748, 0.17915233969688416, 0.9977939128875732, -0.002497933804988861, -0.014524657279253006, -0.01078189630061388], "max": [0.5010768175125122, 0.029766220599412918, 0.26344576478004456, 0.9999974966049194, 0.007548779249191284, 0.06630586087703705, 0.002881801687180996], "mean": [0.4510192275047302, 0.007006699685007334, 0.19768965244293213, 0.9985513687133789, 0.00034788140328601, 0.05032394081354141, -8.696718396095093e-06], "std": [0.05778093263506889, 0.01740793138742447, 0.021690521389245987, 0.00046068726805970073, 0.0015496060950681567, 0.01883072592318058, 0.002545395866036415], "count": [235]}, "observation.eef_pose_rotvec": {"min": [0.3732050359249115, -0.009451733902096748, 0.17915233969688416, -3.1407108306884766, -0.010204149410128593, -0.18101821839809418], "max": [0.5010768175125122, 0.029766220599412918, 0.26344576478004456, 3.1407902240753174, 0.023684311658143997, 0.20794421434402466], "mean": [0.4510192275047302, 0.007006699685007334, 0.19768965244293213, 2.015019416809082, -0.00036834581987932324, 0.13113079965114594], "std": [0.05778093263506889, 0.01740793138742447, 0.021690521389245987, 2.4010963439941406, 0.0049667395651340485, 0.10616708546876907], "count": [235]}, "observation.eef_rotation_matrix": {"min": [0.9912003874778748, -0.005315908696502447, -0.029070595279335976, -0.004654379095882177, -1.0, -0.005750529933720827, -0.029020193964242935, -0.02163887582719326, -0.999990701675415], "max": [0.9999980926513672, 0.01484191045165062, 0.1323091685771942, 0.015304191038012505, -0.9997513890266418, 0.021481910720467567, 0.13232916593551636, 0.006112345028668642, -0.991192102432251], "mean": [0.9942207932472229, 0.0006092450930736959, 0.10048302263021469, 0.000781338254455477, -0.9999828934669495, 3.2863663363968953e-05, 0.10048779100179672, -5.6678636610740796e-06, -0.994212806224823], "std": [0.0018724487163126469, 0.0030734979081898928, 0.0376153327524662, 0.0031187310814857483, 5.1632901886478066e-05, 0.005066031124442816, 0.03759554401040077, 0.005117138382047415, 0.001842187368310988], "count": [235]}, "observation.gripper": {"min": [0.0], "max": [0.4773378372192383], "mean": [0.10235648602247238], "std": [0.18986281752586365], "count": [235]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019095538184046745, 0.019096190109848976], "mean": [0.0040942607447505, 0.004094254225492477], "std": [0.0075945002026855946, 0.007594520691782236], "count": [235]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818702697753906], "mean": [0.008188518695533276], "std": [0.015189024619758129], "count": [235]}, "timestamp": {"min": [0.0], "max": [3.9], "mean": [1.95], "std": [1.1306340404097754], "count": [235]}, "frame_index": {"min": [0], "max": [234], "mean": [117.0], "std": [67.83804242458652], "count": [235]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [235]}, "index": {"min": [1148], "max": [1382], "mean": [1265.0], "std": [67.83804242458652], "count": [235]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [235]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6248518137254901]], [[0.5996126416122004]], [[0.5699225108932462]]], "std": [[[0.18544473597179745]], [[0.19144375578904538]], [[0.19981352902991023]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9372549019607843]], [[0.9490196078431372]]], "mean": [[[0.5011353322440087]], [[0.47698548747276687]], [[0.44813931644880173]]], "std": [[[0.18417780887467997]], [[0.18665504128600746]], [[0.19113336602070433]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.792156862745098]], [[0.6901960784313725]], [[0.7803921568627451]]], "mean": [[[0.33236013071895426]], [[0.40773002246732026]], [[0.4817369219771242]]], "std": [[[0.14948952979288832]], [[0.11592125139171705]], [[0.15026349597138638]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.796078431372549]], [[0.6941176470588235]], [[0.7529411764705882]]], "mean": [[[0.3291630392156863]], [[0.4196631147875817]], [[0.48236128676470585]]], "std": [[[0.14704062916746957]], [[0.1218435085298724]], [[0.15274540740822454]]], "count": [100]}}}
+{"episode_index": 6, "stats": {"observation.state": {"min": [-0.06294967234134674, 0.02002984657883644, -0.00393249886110425, -2.8066492080688477, -0.04398198425769806, 2.500839948654175, 0.7336581349372864, 0.0], "max": [0.051727596670389175, 0.38994839787483215, 0.033703193068504333, -2.2770040035247803, 0.03535442426800728, 3.104261875152588, 0.8755167126655579, 0.477335661649704], "mean": [0.0024265663232654333, 0.24164319038391113, 0.011229689233005047, -2.4864351749420166, -0.012996821664273739, 2.8135221004486084, 0.8106204867362976, 0.10178772360086441], "std": [0.05110068619251251, 0.126096710562706, 0.01566421426832676, 0.22275759279727936, 0.028858838602900505, 0.18907546997070312, 0.06303654611110687, 0.18960775434970856], "count": [241]}, "observation.joint_position": {"min": [-0.06294967234134674, 0.02002984657883644, -0.00393249886110425, -2.8066492080688477, -0.04398198425769806, 2.500839948654175, 0.7336581349372864], "max": [0.051727596670389175, 0.38994839787483215, 0.033703193068504333, -2.2770040035247803, 0.03535442426800728, 3.104261875152588, 0.8755167126655579], "mean": [0.0024265663232654333, 0.24164319038391113, 0.011229689233005047, -2.4864351749420166, -0.012996821664273739, 2.8135221004486084, 0.8106204867362976], "std": [0.05110068619251251, 0.126096710562706, 0.01566421426832676, 0.22275759279727936, 0.028858838602900505, 0.18907546997070312, 0.06303654611110687], "count": [241]}, "observation.eef_pose_quaternion": {"min": [0.38585159182548523, -0.01310945488512516, 0.1817573755979538, 0.9960117340087891, -0.0021670986898243427, -0.013819602318108082, -0.010781013406813145], "max": [0.5378255844116211, 0.027227560058236122, 0.2634401321411133, 0.9999684691429138, 0.0075038401409983635, 0.08922141790390015, 0.008667262271046638], "mean": [0.47868579626083374, 0.009195656515657902, 0.2030857801437378, 0.9985383152961731, -0.0002466212899889797, 0.04303042218089104, 0.0032898823264986277], "std": [0.0627683624625206, 0.018801162019371986, 0.02143985405564308, 0.0015264988178387284, 0.0018324048724025488, 0.03199570253491402, 0.005482174921780825], "count": [241]}, "observation.eef_pose_rotvec": {"min": [0.38585159182548523, -0.01310945488512516, 0.1817573755979538, -3.134765625, -0.023191427811980247, -0.27136632800102234], "max": [0.5378255844116211, 0.027227560058236122, 0.2634401321411133, 3.1349332332611084, 0.023569898679852486, 0.2802756428718567], "mean": [0.47868579626083374, 0.009195656515657902, 0.2030857801437378, 0.6078652739524841, -0.0015943574253469706, -0.020869530737400055], "std": [0.0627683624625206, 0.018801162019371986, 0.02143985405564308, 3.067457914352417, 0.005571600515395403, 0.16706222295761108], "count": [241]}, "observation.eef_rotation_matrix": {"min": [0.9840788841247559, -0.004256543703377247, -0.02769608423113823, -0.004391223192214966, -1.0, -0.017384730279445648, -0.027573619037866592, -0.021637121215462685, -0.9998742341995239], "max": [0.9999995827674866, 0.014944558031857014, 0.1777312457561493, 0.015012403950095177, -0.9997513890266418, 0.02148013934493065, 0.17773109674453735, 0.017274364829063416, -0.9840790629386902], "mean": [0.9942423701286316, -0.0006591362762264907, 0.0858287662267685, -0.0003278709773439914, -0.9999114871025085, -0.006584724877029657, 0.08585213869810104, 0.006571844685822725, -0.9941679835319519], "std": [0.006159642245620489, 0.0037129330448806286, 0.063742995262146, 0.003616614965721965, 7.383373304037377e-05, 0.010982946492731571, 0.06371968239545822, 0.010943563655018806, 0.0060947248712182045], "count": [241]}, "observation.gripper": {"min": [0.0], "max": [0.477335661649704], "mean": [0.10178780555725098], "std": [0.18960770964622498], "count": [241]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019093869253993034, 0.019094202667474747], "mean": [0.004071528557687998, 0.00407149363309145], "std": [0.0075843133963644505, 0.007584297563880682], "count": [241]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186851888895035], "mean": [0.008143024519085884], "std": [0.01516861654818058], "count": [241]}, "timestamp": {"min": [0.0], "max": [4.0], "mean": [2.0], "std": [1.1595018087284057], "count": [241]}, "frame_index": {"min": [0], "max": [240], "mean": [120.0], "std": [69.57010852370435], "count": [241]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [241]}, "index": {"min": [1383], "max": [1623], "mean": [1503.0], "std": [69.57010852370435], "count": [241]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [241]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6285062091503267]], [[0.6046417184095861]], [[0.5759887282135076]]], "std": [[[0.18254470390048688]], [[0.18918892441434676]], [[0.1989310219511374]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9372549019607843]], [[0.9529411764705882]]], "mean": [[[0.503216244553377]], [[0.4777960593681917]], [[0.4484931781045751]]], "std": [[[0.18416126579808892]], [[0.18582636802993466]], [[0.19055067922377034]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7725490196078432]], [[0.6784313725490196]], [[0.7450980392156863]]], "mean": [[[0.33394249387254904]], [[0.4084491441993464]], [[0.4825138541666667]]], "std": [[[0.14663316017738603]], [[0.11601822111616292]], [[0.149614117159738]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8117647058823529]], [[0.7019607843137254]], [[0.7529411764705882]]], "mean": [[[0.3328853513071895]], [[0.4196388684640523]], [[0.48383288194444446]]], "std": [[[0.14334678768217518]], [[0.12236436682767741]], [[0.15189181678227837]]], "count": [100]}}}
+{"episode_index": 7, "stats": {"observation.state": {"min": [-0.029237868264317513, 0.0781526044011116, -0.01973102055490017, -2.6204094886779785, -0.010152148082852364, 2.5008342266082764, 0.7409999966621399, 0.0], "max": [0.049192436039447784, 0.40071648359298706, 0.0029260951559990644, -2.2348313331604004, 0.03535616397857666, 2.776977062225342, 0.8383011817932129, 0.47733697295188904], "mean": [0.01743568852543831, 0.2693534791469574, -0.009372078813612461, -2.3887226581573486, -0.0012114677811041474, 2.6163270473480225, 0.7947781085968018, 0.09102188795804977], "std": [0.03406650945544243, 0.11790431290864944, 0.0047677308320999146, 0.17415127158164978, 0.01102062501013279, 0.09581881761550903, 0.04538847133517265, 0.18065087497234344], "count": [219]}, "observation.joint_position": {"min": [-0.029237868264317513, 0.0781526044011116, -0.01973102055490017, -2.6204094886779785, -0.010152148082852364, 2.5008342266082764, 0.7409999966621399], "max": [0.049192436039447784, 0.40071648359298706, 0.0029260951559990644, -2.2348313331604004, 0.03535616397857666, 2.776977062225342, 0.8383011817932129], "mean": [0.01743568852543831, 0.2693534791469574, -0.009372078813612461, -2.3887226581573486, -0.0012114677811041474, 2.6163270473480225, 0.7947781085968018], "std": [0.03406650945544243, 0.11790431290864944, 0.0047677308320999146, 0.17415127158164978, 0.01102062501013279, 0.09581881761550903, 0.04538847133517265], "count": [219]}, "observation.eef_pose_quaternion": {"min": [0.42984309792518616, -0.02147621661424637, 0.18245917558670044, 0.99953693151474, -0.004921135026961565, -0.029844200238585472, -0.010781772434711456], "max": [0.5413316488265991, 0.021784475073218346, 0.26344308257102966, 0.9999596476554871, 0.013749929144978523, -0.0014298794558271766, 0.0056457919999957085], "mean": [0.49622842669487, 0.005654026288539171, 0.20265188813209534, 0.9997304081916809, -8.436660209554248e-06, -0.020743167027831078, 0.002071616007015109], "std": [0.04955689236521721, 0.017928721383213997, 0.021906761452555656, 0.00017038697842508554, 0.003228492336347699, 0.008703527972102165, 0.004091993905603886], "count": [219]}, "observation.eef_pose_rotvec": {"min": [0.42984309792518616, -0.02147621661424637, 0.18245917558670044, -3.1413328647613525, -0.04319382458925247, -0.09342283010482788], "max": [0.5413316488265991, 0.021784475073218346, 0.26344308257102966, 3.1413562297821045, 0.0417642667889595, 0.05274733155965805], "mean": [0.49622842669487, 0.005654026288539171, 0.20265188813209534, 0.9276812672615051, -0.0038263907190412283, -0.037803951650857925], "std": [0.04955689236521721, 0.017928721383213997, 0.021906761452555656, 2.9933454990386963, 0.0093794334679842, 0.05945873633027077], "count": [219]}, "observation.eef_rotation_matrix": {"min": [0.998212456703186, -0.009841297753155231, -0.05968065932393074, -0.009841270744800568, -1.0, -0.011181251145899296, -0.05964089184999466, -0.02163860760629177, -0.9999958872795105], "max": [0.9998696446418762, 0.027496935799717903, -0.0028623435646295547, 0.027497529983520508, -0.9996218681335449, 0.02148168906569481, -0.002856628270819783, 0.011391465552151203, -0.998154878616333], "mean": [0.9989671111106873, 0.0001253671507583931, -0.041486527770757675, -0.00015788336168043315, -0.9999351501464844, -0.0041004447266459465, -0.04145807400345802, 0.004181650001555681, -0.9989460110664368], "std": [0.0006647946429438889, 0.006357643753290176, 0.017399396747350693, 0.0065580918453633785, 7.425741932820529e-05, 0.008122830651700497, 0.017392510548233986, 0.00824050884693861, 0.0007000586483627558], "count": [219]}, "observation.gripper": {"min": [0.0], "max": [0.47733697295188904], "mean": [0.09102193266153336], "std": [0.18065081536769867], "count": [219]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019096218049526215, 0.01909620873630047], "mean": [0.0036408863961696625, 0.0036408649757504463], "std": [0.007226098328828812, 0.007225966081023216], "count": [219]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818695619702339], "mean": [0.007281755097210407], "std": [0.014452065341174603], "count": [219]}, "timestamp": {"min": [0.0], "max": [3.6333333333333333], "mean": [1.8166666666666669], "std": [1.0536532566196457], "count": [219]}, "frame_index": {"min": [0], "max": [218], "mean": [109.0], "std": [63.219195397178744], "count": [219]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [219]}, "index": {"min": [1624], "max": [1842], "mean": [1733.0], "std": [63.219195397178744], "count": [219]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [219]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6291754275599128]], [[0.6029385620915033]], [[0.5743274863834423]]], "std": [[[0.1825940908446635]], [[0.1912560849632083]], [[0.20113776190695332]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9372549019607843]], [[0.9529411764705882]]], "mean": [[[0.5017695152505447]], [[0.4727989705882353]], [[0.44426830065359474]]], "std": [[[0.18269410756554877]], [[0.18496951954988247]], [[0.18919097039036106]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7019607843137254]], [[0.6901960784313725]], [[0.7568627450980392]]], "mean": [[[0.3326251164215686]], [[0.40773510008169933]], [[0.48060319240196075]]], "std": [[[0.14691363745012942]], [[0.11617503548961847]], [[0.1510210654663962]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6823529411764706]], [[0.6862745098039216]], [[0.788235294117647]]], "mean": [[[0.32820330269607845]], [[0.41944295751633986]], [[0.48148425857843136]]], "std": [[[0.14394341067677877]], [[0.12264497699814686]], [[0.1543832012049335]]], "count": [100]}}}
+{"episode_index": 8, "stats": {"observation.state": {"min": [-0.02530607208609581, 0.028775306418538094, -0.02081199735403061, -2.76165771484375, -0.0018832107307389379, 2.5008111000061035, 0.7392810583114624, 0.0], "max": [-0.003670362988486886, 0.33898428082466125, 0.004933550953865051, -2.3458759784698486, 0.03535657376050949, 2.801464080810547, 0.7867196798324585, 0.47733616828918457], "mean": [-0.015557486563920975, 0.2067313939332962, -0.008910788223147392, -2.5066909790039062, 0.0037767153698951006, 2.6487390995025635, 0.7575184106826782, 0.09838788956403732], "std": [0.009104062803089619, 0.11157001554965973, 0.011197591200470924, 0.18179269134998322, 0.008647149428725243, 0.09816974401473999, 0.02094426192343235, 0.18652373552322388], "count": [222]}, "observation.joint_position": {"min": [-0.02530607208609581, 0.028775306418538094, -0.02081199735403061, -2.76165771484375, -0.0018832107307389379, 2.5008111000061035, 0.7392810583114624], "max": [-0.003670362988486886, 0.33898428082466125, 0.004933550953865051, -2.3458759784698486, 0.03535657376050949, 2.801464080810547, 0.7867196798324585], "mean": [-0.015557486563920975, 0.2067313939332962, -0.008910788223147392, -2.5066909790039062, 0.0037767153698951006, 2.6487390995025635, 0.7575184106826782], "std": [0.009104062803089619, 0.11157001554965973, 0.011197591200470924, 0.18179269134998322, 0.008647149428725243, 0.09816974401473999, 0.02094426192343235], "count": [222]}, "observation.eef_pose_quaternion": {"min": [0.38109293580055237, -0.0223531611263752, 0.18012753129005432, 0.9991036653518677, -0.005149533972144127, -0.04232199117541313, -0.010782268829643726], "max": [0.5081907510757446, 0.0005253643612377346, 0.26344987750053406, 0.9998562932014465, 0.007112861145287752, -0.013288537040352821, 0.00131787930149585], "mean": [0.4587705135345459, -0.012502268888056278, 0.19745256006717682, 0.9994469881057739, 0.0002945511951111257, -0.032336652278900146, -0.0004470895801205188], "std": [0.05458003655076027, 0.010444853454828262, 0.020565645769238472, 0.000198410838493146, 0.0016809572698548436, 0.007041914854198694, 0.002663895022124052], "count": [222]}, "observation.eef_pose_rotvec": {"min": [0.38109293580055237, -0.0223531611263752, 0.18012753129005432, -3.1404473781585693, -0.02182506024837494, -0.132894828915596], "max": [0.5081907510757446, 0.0005253643612377346, 0.26344987750053406, 3.1404600143432617, 0.02234569936990738, 0.11288747936487198], "mean": [0.4587705135345459, -0.012502268888056278, 0.19745256006717682, 1.245175838470459, 0.0004927903646603227, -0.052018918097019196], "std": [0.05458003655076027, 0.010444853454828262, 0.020565645769238472, 2.8799681663513184, 0.005329935345798731, 0.08997005969285965], "count": [222]}, "observation.eef_rotation_matrix": {"min": [0.9964177012443542, -0.010586446151137352, -0.08456811308860779, -0.010004590265452862, -1.0, -0.0026531817857176065, -0.08456813544034958, -0.021639615297317505, -0.9994325637817383], "max": [0.9996399283409119, 0.014220200479030609, -0.026611654087901115, 0.01422007568180561, -0.9997513890266418, 0.021482661366462708, -0.02653486654162407, 0.002630888018757105, -0.9964165687561035], "mean": [0.9978037476539612, 0.0005866024293936789, -0.06463509798049927, 0.0005912799970246851, -0.999980092048645, 0.0008817843627184629, -0.06463447958230972, -0.000906823726836592, -0.9977948069572449], "std": [0.0008205315680243075, 0.00337256514467299, 0.01406149473041296, 0.003351447405293584, 5.631042949971743e-05, 0.005335869267582893, 0.014069271273911, 0.005318854935467243, 0.0007995915366336703], "count": [222]}, "observation.gripper": {"min": [0.0], "max": [0.47733616828918457], "mean": [0.09838798642158508], "std": [0.18652360141277313], "count": [222]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019093753769993782, 0.019094126299023628], "mean": [0.003935518674552441, 0.003935517277568579], "std": [0.0074609131552278996, 0.007460945285856724], "count": [222]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818689286708832], "mean": [0.00787103921175003], "std": [0.014921888709068298], "count": [222]}, "timestamp": {"min": [0.0], "max": [3.683333333333333], "mean": [1.8416666666666668], "std": [1.0680871617921381], "count": [222]}, "frame_index": {"min": [0], "max": [221], "mean": [110.5], "std": [64.0852297075283], "count": [222]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [222]}, "index": {"min": [1843], "max": [2064], "mean": [1953.5], "std": [64.0852297075283], "count": [222]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [222]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6216395697167756]], [[0.6020036574074075]], [[0.5718263834422658]]], "std": [[[0.18444943153302365]], [[0.1888362913259078]], [[0.19770229258892744]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9529411764705882]], [[0.9450980392156862]], [[0.9568627450980393]]], "mean": [[[0.4990322194989107]], [[0.47064158224400876]], [[0.443102355664488]]], "std": [[[0.18405967126178846]], [[0.18593277546976547]], [[0.19001799163631714]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7019607843137254]], [[0.6941176470588235]], [[0.7843137254901961]]], "mean": [[[0.33112108660130724]], [[0.4074461008986928]], [[0.48127738970588235]]], "std": [[[0.14616690371023508]], [[0.11548272430808626]], [[0.15208009685838716]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7764705882352941]], [[0.6941176470588235]], [[0.7803921568627451]]], "mean": [[[0.32828011437908494]], [[0.41819839256535946]], [[0.4802754616013072]]], "std": [[[0.14522359596995132]], [[0.12144077236210853]], [[0.15427142039563013]]], "count": [100]}}}
+{"episode_index": 9, "stats": {"observation.state": {"min": [-0.010808968916535378, -0.0013133991742506623, -0.0716952383518219, -2.883321523666382, -0.06032874807715416, 2.5008342266082764, 0.7002218961715698, 0.0], "max": [0.11926410347223282, 0.37650203704833984, 0.0007343404577113688, -2.329393148422241, 0.05466640740633011, 3.1042098999023438, 0.9069973230361938, 0.47733762860298157], "mean": [0.051750972867012024, 0.21478408575057983, -0.049464304000139236, -2.5500056743621826, 0.00669017992913723, 2.8440842628479004, 0.7870867252349854, 0.10528292506933212], "std": [0.049173805862665176, 0.13276655972003937, 0.016984719783067703, 0.23898252844810486, 0.04796786978840828, 0.1772451102733612, 0.09028620272874832, 0.19187867641448975], "count": [233]}, "observation.joint_position": {"min": [-0.010808968916535378, -0.0013133991742506623, -0.0716952383518219, -2.883321523666382, -0.06032874807715416, 2.5008342266082764, 0.7002218961715698], "max": [0.11926410347223282, 0.37650203704833984, 0.0007343404577113688, -2.329393148422241, 0.05466640740633011, 3.1042098999023438, 0.9069973230361938], "mean": [0.051750972867012024, 0.21478408575057983, -0.049464304000139236, -2.5500056743621826, 0.00669017992913723, 2.8440842628479004, 0.7870867252349854], "std": [0.049173805862665176, 0.13276655972003937, 0.016984719783067703, 0.23898252844810486, 0.04796786978840828, 0.1772451102733612, 0.09028620272874832], "count": [233]}, "observation.eef_pose_quaternion": {"min": [0.35678768157958984, -0.024034952744841576, 0.17920780181884766, 0.9972904920578003, -0.015095832757651806, -0.013818035833537579, -0.010781139135360718], "max": [0.5239182710647583, 0.027285894379019737, 0.2634442448616028, 0.9999958872795105, 0.002843421883881092, 0.07179667800664902, 0.006708159111440182], "mean": [0.458195298910141, -0.002351585775613785, 0.19845367968082428, 0.9988928437232971, -0.000826398201752454, 0.03995796665549278, -0.00017022484098561108], "std": [0.07133997231721878, 0.023071764037013054, 0.02156910113990307, 0.0009559675236232579, 0.0032819914631545544, 0.02437750995159149, 0.0029870006255805492], "count": [233]}, "observation.eef_pose_rotvec": {"min": [0.35678768157958984, -0.024034952744841576, 0.17920780181884766, -3.140566349029541, -0.047233328223228455, -0.22259336709976196], "max": [0.5239182710647583, 0.027285894379019737, 0.2634442448616028, 3.1406118869781494, 0.0064559876918792725, 0.2246028482913971], "mean": [0.458195298910141, -0.002351585775613785, 0.19845367968082428, -1.090802550315857, -0.003843453247100115, -0.03548779338598251], "std": [0.07133997231721878, 0.023071764037013054, 0.02156910113990307, 2.9396121501922607, 0.009871388785541058, 0.14260035753250122], "count": [233]}, "observation.eef_rotation_matrix": {"min": [0.9892657995223999, -0.030999504029750824, -0.027692941948771477, -0.029230380430817604, -1.0, -0.015400501899421215, -0.027570489794015884, -0.02163735218346119, -0.9999847412109375], "max": [0.9999992251396179, 0.005703584756702185, 0.14300985634326935, 0.005976736079901457, -0.9994612336158752, 0.021480407565832138, 0.14339874684810638, 0.011475779116153717, -0.9896014332771301], "mean": [0.9955953359603882, -0.0017244875198230147, 0.07977055013179779, -0.0015731633175164461, -0.9999593496322632, 0.00022087061370257288, 0.07979701459407806, -0.00046366179594770074, -0.9956002235412598], "std": [0.0038260205183178186, 0.006731852423399687, 0.04861849918961525, 0.006369449198246002, 0.00010725204629125074, 0.006206088233739138, 0.04862900823354721, 0.005753460340201855, 0.00379432481713593], "count": [233]}, "observation.gripper": {"min": [0.0], "max": [0.47733762860298157], "mean": [0.10528304427862167], "std": [0.19187858700752258], "count": [233]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019095348194241524, 0.01909603737294674], "mean": [0.004211311228573322, 0.004211330786347389], "std": [0.007675145752727985, 0.007675142027437687], "count": [233]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818700835108757], "mean": [0.008422642014920712], "std": [0.015350286848843098], "count": [233]}, "timestamp": {"min": [0.0], "max": [3.8666666666666667], "mean": [1.9333333333333336], "std": [1.121011448053349], "count": [233]}, "frame_index": {"min": [0], "max": [232], "mean": [116.0], "std": [67.26068688320095], "count": [233]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [233]}, "index": {"min": [2065], "max": [2297], "mean": [2181.0], "std": [67.26068688320095], "count": [233]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [233]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.627114675925926]], [[0.6009065005446623]], [[0.57168223583878]]], "std": [[[0.1875983082505698]], [[0.19299833624257237]], [[0.20202484296584763]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9450980392156862]], [[0.9490196078431372]]], "mean": [[[0.5017931454248366]], [[0.47700722766884535]], [[0.4483064515250545]]], "std": [[[0.18444808687820377]], [[0.18671104085878645]], [[0.1910564648060397]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.803921568627451]], [[0.6901960784313725]], [[0.7803921568627451]]], "mean": [[[0.3322936560457516]], [[0.40624760620915035]], [[0.4836407781862745]]], "std": [[[0.14715766901890465]], [[0.11538559060417332]], [[0.15007350866542762]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8392156862745098]], [[0.6901960784313725]], [[0.7568627450980392]]], "mean": [[[0.330846364379085]], [[0.4159044117647059]], [[0.4812928921568627]]], "std": [[[0.1464102455216614]], [[0.12083057982686755]], [[0.15114631707314885]]], "count": [100]}}}
+{"episode_index": 10, "stats": {"observation.state": {"min": [-0.05704859644174576, 0.042332135140895844, -0.01998460665345192, -2.7614009380340576, -0.04291793704032898, 2.500835657119751, 0.6795341372489929, 0.0], "max": [0.06556085497140884, 0.3565615117549896, 0.003330661915242672, -2.4164178371429443, 0.052699681371450424, 3.065575361251831, 0.87347012758255, 0.47733914852142334], "mean": [-0.007202037610113621, 0.23250938951969147, -0.006327021401375532, -2.5457048416137695, 0.016448065638542175, 2.916489601135254, 0.7559509873390198, 0.09948024898767471], "std": [0.05506834760308266, 0.10631543397903442, 0.009236696176230907, 0.1512601375579834, 0.04102671891450882, 0.1237817034125328, 0.08592984080314636, 0.1878146529197693], "count": [237]}, "observation.joint_position": {"min": [-0.05704859644174576, 0.042332135140895844, -0.01998460665345192, -2.7614009380340576, -0.04291793704032898, 2.500835657119751, 0.6795341372489929], "max": [0.06556085497140884, 0.3565615117549896, 0.003330661915242672, -2.4164178371429443, 0.052699681371450424, 3.065575361251831, 0.87347012758255], "mean": [-0.007202037610113621, 0.23250938951969147, -0.006327021401375532, -2.5457048416137695, 0.016448065638542175, 2.916489601135254, 0.7559509873390198], "std": [0.05506834760308266, 0.10631543397903442, 0.009236696176230907, 0.1512601375579834, 0.04102671891450882, 0.1237817034125328, 0.08592984080314636], "count": [237]}, "observation.eef_pose_quaternion": {"min": [0.40073996782302856, -0.03213291987776756, 0.17990945279598236, 0.9961657524108887, -0.0067058433778584, -0.013819887302815914, -0.010780958458781242], "max": [0.5059626698493958, 0.023140419274568558, 0.26344379782676697, 0.9999651908874512, 0.013107937760651112, 0.08740995824337006, 0.0016833770787343383], "mean": [0.46594345569610596, -0.00928060244768858, 0.19791921973228455, 0.997310221195221, 0.0005031688488088548, 0.06931313127279282, -0.0014641162706539035], "std": [0.04687102511525154, 0.024205509573221207, 0.021298425272107124, 0.0008581173024140298, 0.0025092284195125103, 0.023496437817811966, 0.002362580271437764], "count": [237]}, "observation.eef_pose_rotvec": {"min": [0.40073996782302856, -0.03213291987776756, 0.17990945279598236, -3.13826584815979, -0.010668300092220306, -0.26252445578575134], "max": [0.5059626698493958, 0.023140419274568558, 0.26344379782676697, 3.1349120140075684, 0.04115760698914528, 0.2743901312351227], "mean": [0.46594345569610596, -0.00928060244768858, 0.19791921973228455, -1.2001813650131226, 0.001407597679644823, -0.07526048272848129], "std": [0.04687102511525154, 0.024205509573221207, 0.021298425272107124, 2.8906326293945312, 0.00790460780262947, 0.21707887947559357], "count": [237]}, "observation.eef_rotation_matrix": {"min": [0.9846959114074707, -0.013353720307350159, -0.027696652337908745, -0.013467825017869473, -1.0, -0.003420895664021373, -0.02757418528199196, -0.02163699083030224, -0.9999499320983887], "max": [0.9999039769172668, 0.026020245626568794, 0.17414122819900513, 0.02626740001142025, -0.9996549487113953, 0.021480049937963486, 0.17415806651115417, 0.004512348212301731, -0.9847159385681152], "mean": [0.9892743825912476, 0.0011161455186083913, 0.1382150650024414, 0.0008888848824426532, -0.9999743700027466, 0.0030190031975507736, 0.13821399211883545, -0.0028270483016967773, -0.9892716407775879], "std": [0.0034613239113241434, 0.004979010205715895, 0.04685409367084503, 0.005042992997914553, 6.905879126861691e-05, 0.004664493724703789, 0.046855296939611435, 0.004802629817277193, 0.003434948157519102], "count": [237]}, "observation.gripper": {"min": [0.0], "max": [0.47733914852142334], "mean": [0.09948034584522247], "std": [0.1878146529197693], "count": [237]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019095784053206444, 0.01909579336643219], "mean": [0.003979220055043697, 0.00397920049726963], "std": [0.007512577809393406, 0.0075126090086996555], "count": [237]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818713128566742], "mean": [0.007958426140248775], "std": [0.015025172382593155], "count": [237]}, "timestamp": {"min": [0.0], "max": [3.933333333333333], "mean": [1.9666666666666668], "std": [1.1402566312831446], "count": [237]}, "frame_index": {"min": [0], "max": [236], "mean": [118.0], "std": [68.41539787698868], "count": [237]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [237]}, "index": {"min": [2298], "max": [2534], "mean": [2416.0], "std": [68.41539787698868], "count": [237]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [237]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.622334104030501]], [[0.6009822576252724]], [[0.5727510974945533]]], "std": [[[0.19191903815617628]], [[0.19398653486207132]], [[0.20292180186352168]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.996078431372549]], [[0.9333333333333333]], [[0.9490196078431372]]], "mean": [[[0.5037952342047931]], [[0.47729663943355116]], [[0.4480681072984749]]], "std": [[[0.18528401142253303]], [[0.18777082050662156]], [[0.19250551204635155]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8274509803921568]], [[0.6901960784313725]], [[0.7725490196078432]]], "mean": [[[0.3322542013888889]], [[0.40549710171568626]], [[0.4825160927287582]]], "std": [[[0.14890956969655694]], [[0.11536822654551218]], [[0.15044114121779653]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8235294117647058]], [[0.6941176470588235]], [[0.7529411764705882]]], "mean": [[[0.3305672549019608]], [[0.41553989991830065]], [[0.4804855943627451]]], "std": [[[0.1489728847312624]], [[0.12062572196397156]], [[0.1510905642191762]]], "count": [100]}}}
+{"episode_index": 11, "stats": {"observation.state": {"min": [-0.01245624665170908, 0.09445714205503464, -0.011843123473227024, -2.6347005367279053, -0.004178297705948353, 2.4497907161712646, 0.7409999966621399, 0.0], "max": [0.03708217665553093, 0.42720508575439453, 0.000792657199781388, -2.173222780227661, 0.035354405641555786, 2.7496109008789062, 0.8165572881698608, 0.4773356020450592], "mean": [0.01661033183336258, 0.2901025116443634, -0.00900197122246027, -2.3515419960021973, 0.0008557802066206932, 2.559511661529541, 0.7931995391845703, 0.0870201587677002], "std": [0.02262667566537857, 0.12600114941596985, 0.0031520600896328688, 0.20276203751564026, 0.009241915307939053, 0.11429097503423691, 0.02652355656027794, 0.1782156378030777], "count": [251]}, "observation.joint_position": {"min": [-0.01245624665170908, 0.09445714205503464, -0.011843123473227024, -2.6347005367279053, -0.004178297705948353, 2.4497907161712646, 0.7409999966621399], "max": [0.03708217665553093, 0.42720508575439453, 0.000792657199781388, -2.173222780227661, 0.035354405641555786, 2.7496109008789062, 0.8165572881698608], "mean": [0.01661033183336258, 0.2901025116443634, -0.00900197122246027, -2.3515419960021973, 0.0008557802066206932, 2.559511661529541, 0.7931995391845703], "std": [0.02262667566537857, 0.12600114941596985, 0.0031520600896328688, 0.20276203751564026, 0.009241915307939053, 0.11429097503423691, 0.02652355656027794], "count": [251]}, "observation.eef_pose_quaternion": {"min": [0.4222618043422699, -0.008461183868348598, 0.18263328075408936, 0.9984799027442932, -0.002474814420565963, -0.054887812584638596, -0.010781040415167809], "max": [0.5512508153915405, 0.014092875644564629, 0.2634390890598297, 0.999851644039154, 0.002844689879566431, -0.013755077496170998, 0.0050056092441082], "mean": [0.502247154712677, 0.004820731468498707, 0.20009088516235352, 0.9990475177764893, -0.0002977777039632201, -0.040965571999549866, 0.0018783648265525699], "std": [0.05633419752120972, 0.010344566777348518, 0.01880086027085781, 0.0005514974473044276, 0.0008882620604708791, 0.014325243420898914, 0.0039520710706710815], "count": [251]}, "observation.eef_pose_rotvec": {"min": [0.4222618043422699, -0.008461183868348598, 0.18263328075408936, -3.1405580043792725, -0.008877276442945004, -0.17188940942287445], "max": [0.5512508153915405, 0.014092875644564629, 0.2634390890598297, 3.14060115814209, 0.007749240845441818, 0.14182938635349274], "mean": [0.502247154712677, 0.004820731468498707, 0.20009088516235352, 1.683525562286377, -0.0014710675459355116, -0.09091470390558243], "std": [0.05633419752120972, 0.010344566777348518, 0.01880086027085781, 2.6407973766326904, 0.0025346940383315086, 0.1011192724108696], "count": [251]}, "observation.eef_rotation_matrix": {"min": [0.9939739108085632, -0.0052607087418437, -0.10961494594812393, -0.0046338848769664764, -1.0, -0.009917979128658772, -0.10960254818201065, -0.02163715474307537, -0.9994084239006042], "max": [0.9996054768562317, 0.005381009075790644, -0.027566924691200256, 0.0059970831498503685, -0.9997513890266418, 0.02148021198809147, -0.027444778010249138, 0.010074138641357422, -0.9939248561859131], "mean": [0.9962313175201416, -0.00034377939300611615, -0.08184352517127991, -0.0008450390305370092, -0.9999610185623169, -0.0037084759678691626, -0.08183138072490692, 0.003790729446336627, -0.9961950182914734], "std": [0.0022000353783369064, 0.0016234260983765125, 0.02858179621398449, 0.001961423084139824, 4.928553244099021e-05, 0.007860095240175724, 0.028584886342287064, 0.0079354802146554, 0.0022047599777579308], "count": [251]}, "observation.gripper": {"min": [0.0], "max": [0.4773356020450592], "mean": [0.08702026307582855], "std": [0.17821545898914337], "count": [251]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019093947485089302, 0.01909443363547325], "mean": [0.0034808109048753977, 0.003480808110907674], "std": [0.007128626108169556, 0.007128600496798754], "count": [251]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186848163604736], "mean": [0.006961621344089508], "std": [0.014257238246500492], "count": [251]}, "timestamp": {"min": [0.0], "max": [4.166666666666667], "mean": [2.0833333333333335], "std": [1.20761472884912], "count": [251]}, "frame_index": {"min": [0], "max": [250], "mean": [125.0], "std": [72.4568837309472], "count": [251]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [251]}, "index": {"min": [2535], "max": [2785], "mean": [2660.0], "std": [72.4568837309472], "count": [251]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [251]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6272425354030501]], [[0.602401633986928]], [[0.5741002750544663]]], "std": [[[0.1851350868707929]], [[0.1914822555335438]], [[0.20147825163248673]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9490196078431372]], [[0.9529411764705882]]], "mean": [[[0.5017922113289761]], [[0.47206557189542486]], [[0.4440309041394336]]], "std": [[[0.18254176021939433]], [[0.18452531391044158]], [[0.18868288836580185]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6784313725490196]], [[0.6862745098039216]], [[0.7764705882352941]]], "mean": [[[0.33231256331699344]], [[0.4072981147875817]], [[0.48077154207516337]]], "std": [[[0.14602607285742242]], [[0.1159686159058512]], [[0.15141276272741327]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6941176470588235]], [[0.6862745098039216]], [[0.7843137254901961]]], "mean": [[[0.32834421364379085]], [[0.4202252696078431]], [[0.481964795751634]]], "std": [[[0.1431993170603872]], [[0.12306264170448081]], [[0.15462062243824587]]], "count": [100]}}}
+{"episode_index": 12, "stats": {"observation.state": {"min": [-0.031150635331869125, -0.010850655846297741, -0.013165543787181377, -2.80391526222229, -0.018326280638575554, 2.5007922649383545, 0.7409999966621399, 0.0], "max": [0.044881585985422134, 0.38722699880599976, 0.018922418355941772, -2.312077760696411, 0.03535531461238861, 3.0441670417785645, 0.8445369601249695, 0.47733789682388306], "mean": [0.011804508976638317, 0.22713728249073029, 0.0016358400462195277, -2.5119848251342773, -0.006167072802782059, 2.8277742862701416, 0.8079444766044617, 0.09946514666080475], "std": [0.033483851701021194, 0.13810643553733826, 0.008717493154108524, 0.2197578102350235, 0.013789363205432892, 0.14287100732326508, 0.03658358007669449, 0.18766556680202484], "count": [234]}, "observation.joint_position": {"min": [-0.031150635331869125, -0.010850655846297741, -0.013165543787181377, -2.80391526222229, -0.018326280638575554, 2.5007922649383545, 0.7409999966621399], "max": [0.044881585985422134, 0.38722699880599976, 0.018922418355941772, -2.312077760696411, 0.03535531461238861, 3.0441670417785645, 0.8445369601249695], "mean": [0.011804508976638317, 0.22713728249073029, 0.0016358400462195277, -2.5119848251342773, -0.006167072802782059, 2.8277742862701416, 0.8079444766044617], "std": [0.033483851701021194, 0.13810643553733826, 0.008717493154108524, 0.2197578102350235, 0.013789363205432892, 0.14287100732326508, 0.03658358007669449], "count": [234]}, "observation.eef_pose_quaternion": {"min": [0.3858329951763153, -0.019993700087070465, 0.18201197683811188, 0.9971266388893127, -0.023196455091238022, -0.013824822381138802, -0.010782227851450443], "max": [0.5328068733215332, 0.02334499917924404, 0.2634555697441101, 0.9998956322669983, 0.005615866743028164, 0.07572672516107559, 0.0025252995546907187], "mean": [0.471762478351593, 0.008285574615001678, 0.20199277997016907, 0.9988320469856262, -0.0015801411354914308, 0.044405583292245865, 0.0004962374805472791], "std": [0.06564455479383469, 0.014161770232021809, 0.021832160651683807, 0.0005572100053541362, 0.0050176470540463924, 0.01800786331295967, 0.0029024973046034575], "count": [234]}, "observation.eef_pose_rotvec": {"min": [0.3858329951763153, -0.019993700087070465, 0.18201197683811188, -3.1388189792633057, -0.0728674903512001, -0.22647735476493835], "max": [0.5328068733215332, 0.02334499917924404, 0.2634555697441101, 3.1372556686401367, 0.06837821751832962, 0.23788411915302277], "mean": [0.471762478351593, 0.008285574615001678, 0.20199277997016907, 1.8225255012512207, -0.00037396347033791244, 0.09983021020889282], "std": [0.06564455479383469, 0.014161770232021809, 0.021832160651683807, 2.549919605255127, 0.016509126871824265, 0.11255374550819397], "count": [234]}, "observation.eef_rotation_matrix": {"min": [0.9885233044624329, -0.04633278772234917, -0.027706531807780266, -0.04630463942885399, -1.0, -0.005077608861029148, -0.02758404240012169, -0.021639594808220863, -0.9999644756317139], "max": [0.9997378587722778, 0.011235026642680168, 0.15101875364780426, 0.011181714944541454, -0.9989238381385803, 0.021482519805431366, 0.15101781487464905, 0.005015336908400059, -0.9885308742523193], "mean": [0.9953525066375732, -0.0032672667875885963, 0.08869058638811111, -0.0030470078345388174, -0.9999266862869263, -0.001107018324546516, 0.08868908137083054, 0.0008742464706301689, -0.9953907132148743], "std": [0.0022513638250529766, 0.009999344125390053, 0.035943008959293365, 0.010047456249594688, 0.0001843693171394989, 0.005820401944220066, 0.03595269098877907, 0.0058234017342329025, 0.0022289608605206013], "count": [234]}, "observation.gripper": {"min": [0.0], "max": [0.47733789682388306], "mean": [0.09946522861719131], "std": [0.18766549229621887], "count": [234]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019097480922937393, 0.019096631556749344], "mean": [0.0039786072447896, 0.003978609573096037], "std": [0.0075065940618515015, 0.00750666344538331], "count": [234]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818703070282936], "mean": [0.0079572182148695], "std": [0.015013239346444607], "count": [234]}, "timestamp": {"min": [0.0], "max": [3.8833333333333333], "mean": [1.9416666666666669], "std": [1.125822744419321], "count": [234]}, "frame_index": {"min": [0], "max": [233], "mean": [116.5], "std": [67.54936466515926], "count": [234]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [234]}, "index": {"min": [2786], "max": [3019], "mean": [2902.5], "std": [67.54936466515926], "count": [234]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [234]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6289392401960784]], [[0.6047084940087146]], [[0.5758320261437908]]], "std": [[[0.18254096430782135]], [[0.18878395061964243]], [[0.19836200755170152]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[0.9411764705882353]], [[0.9490196078431372]]], "mean": [[[0.5027214460784314]], [[0.4792382244008715]], [[0.4500482489106754]]], "std": [[[0.18296452595017648]], [[0.18521694805873629]], [[0.18988889174368087]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7568627450980392]], [[0.6862745098039216]], [[0.7490196078431373]]], "mean": [[[0.33316067810457517]], [[0.40783308619281045]], [[0.48241785130718956]]], "std": [[[0.14774513024999564]], [[0.11594521412731827]], [[0.1497719806156672]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8392156862745098]], [[0.6823529411764706]], [[0.7607843137254902]]], "mean": [[[0.3314271732026144]], [[0.4194598059640523]], [[0.4828635049019608]]], "std": [[[0.14474732714252944]], [[0.12278179294965931]], [[0.15186903954147324]]], "count": [100]}}}
+{"episode_index": 13, "stats": {"observation.state": {"min": [-0.07352577149868011, 0.02684892527759075, -0.025121301412582397, -2.7656359672546387, -0.05955345556139946, 2.500838041305542, 0.7076231837272644, 0.0], "max": [0.036941997706890106, 0.32614922523498535, 0.0271993950009346, -2.433037757873535, 0.035354748368263245, 3.0564560890197754, 0.8593599796295166, 0.4773359000682831], "mean": [-0.007572367321699858, 0.2082410752773285, -0.0033496480900794268, -2.5654594898223877, -0.018226319923996925, 2.9015796184539795, 0.7940264344215393, 0.10021772980690002], "std": [0.04963872581720352, 0.09769470244646072, 0.022865241393446922, 0.14217278361320496, 0.04229933023452759, 0.1224142462015152, 0.068963423371315, 0.1883045732975006], "count": [237]}, "observation.joint_position": {"min": [-0.07352577149868011, 0.02684892527759075, -0.025121301412582397, -2.7656359672546387, -0.05955345556139946, 2.500838041305542, 0.7076231837272644], "max": [0.036941997706890106, 0.32614922523498535, 0.0271993950009346, -2.433037757873535, 0.035354748368263245, 3.0564560890197754, 0.8593599796295166], "mean": [-0.007572367321699858, 0.2082410752773285, -0.0033496480900794268, -2.5654594898223877, -0.018226319923996925, 2.9015796184539795, 0.7940264344215393], "std": [0.04963872581720352, 0.09769470244646072, 0.022865241393446922, 0.14217278361320496, 0.04229933023452759, 0.1224142462015152, 0.068963423371315], "count": [237]}, "observation.eef_pose_quaternion": {"min": [0.3995939791202545, -0.02089191973209381, 0.18333128094673157, 0.9959583282470703, -0.002224073512479663, -0.013819354586303234, -0.010781319811940193], "max": [0.4976806640625, 0.010256062261760235, 0.26344096660614014, 0.9999717473983765, 0.002848129253834486, 0.08971378952264786, 0.009971968829631805], "mean": [0.46010202169418335, -0.0029775698203593493, 0.20162300765514374, 0.997687816619873, -0.0008293839055113494, 0.06416245549917221, 0.004480649717152119], "std": [0.043625909835100174, 0.013644843362271786, 0.020644178614020348, 0.0007263505831360817, 0.0011074271751567721, 0.02101932279765606, 0.0060989451594650745], "count": [237]}, "observation.eef_pose_rotvec": {"min": [0.3995939791202545, -0.02089191973209381, 0.18333128094673157, -3.1353836059570312, -0.008886829018592834, -0.22877974808216095], "max": [0.4976806640625, 0.010256062261760235, 0.26344096660614014, 3.1347031593322754, 0.0055839866399765015, 0.28108665347099304], "mean": [0.46010202169418335, -0.0029775698203593493, 0.20162300765514374, 1.00858473777771, -0.002724801190197468, 0.09023061394691467], "std": [0.043625909835100174, 0.013644843362271786, 0.020644178614020348, 2.9551236629486084, 0.0033536357805132866, 0.19114576280117035], "count": [237]}, "observation.eef_rotation_matrix": {"min": [0.9839016199111938, -0.005666820332407951, -0.027695579454302788, -0.003783475374802947, -1.0, -0.020124167203903198, -0.027573129162192345, -0.021637722849845886, -0.9998875260353088], "max": [0.9999998807907104, 0.005400041583925486, 0.1787090003490448, 0.005990698933601379, -0.9997513890266418, 0.021480761468410492, 0.17869573831558228, 0.019703496247529984, -0.9838669896125793], "mean": [0.9908792972564697, -0.0023816258180886507, 0.12797991931438446, -0.000927099259570241, -0.9998834729194641, -0.009067711420357227, 0.12801814079284668, 0.00880452897399664, -0.990768313407898], "std": [0.002927443478256464, 0.0027031018398702145, 0.041935402899980545, 0.001827433705329895, 9.784816211322322e-05, 0.01225987821817398, 0.0419234074652195, 0.012092489749193192, 0.002902628155425191], "count": [237]}, "observation.gripper": {"min": [0.0], "max": [0.4773359000682831], "mean": [0.1002177819609642], "std": [0.18830475211143494], "count": [237]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909436099231243, 0.019094709306955338], "mean": [0.004008705727756023, 0.00400871317833662], "std": [0.0075322100892663, 0.00753218587487936], "count": [237]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818687051534653], "mean": [0.008017421700060368], "std": [0.015064380131661892], "count": [237]}, "timestamp": {"min": [0.0], "max": [3.933333333333333], "mean": [1.9666666666666668], "std": [1.1402566312831446], "count": [237]}, "frame_index": {"min": [0], "max": [236], "mean": [118.0], "std": [68.41539787698868], "count": [237]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [237]}, "index": {"min": [3020], "max": [3256], "mean": [3138.0], "std": [68.41539787698868], "count": [237]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [237]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6259466094771242]], [[0.5994672031590413]], [[0.5704125217864924]]], "std": [[[0.18408671339468516]], [[0.19256189468150242]], [[0.20141549265388364]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.984313725490196]], [[0.9450980392156862]], [[0.9490196078431372]]], "mean": [[[0.5066294117647058]], [[0.4765789869281046]], [[0.4470338997821351]]], "std": [[[0.18739443369457703]], [[0.18705649396311883]], [[0.1921420243992563]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7568627450980392]], [[0.6823529411764706]], [[0.7372549019607844]]], "mean": [[[0.3337534068627451]], [[0.4077508067810458]], [[0.48142703227124184]]], "std": [[[0.1485766458658922]], [[0.11598660178622912]], [[0.14983679622456736]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7764705882352941]], [[0.6901960784313725]], [[0.7490196078431373]]], "mean": [[[0.33180016544117646]], [[0.419886243872549]], [[0.48293738766339867]]], "std": [[[0.14550270206013405]], [[0.12254691568164128]], [[0.15206149208024236]]], "count": [100]}}}
+{"episode_index": 14, "stats": {"observation.state": {"min": [-0.01082808431237936, 0.003104559378698468, -0.012304252944886684, -2.7786548137664795, -0.021066004410386086, 2.5008552074432373, 0.7409999966621399, 0.0], "max": [0.039544735103845596, 0.40430065989494324, 0.02671040967106819, -2.2375340461730957, 0.03535448759794235, 2.9104411602020264, 0.8662999272346497, 0.47733718156814575], "mean": [0.022916588932275772, 0.23667635023593903, 0.0031999037601053715, -2.4550247192382812, -0.0031030073296278715, 2.6874194145202637, 0.8160634636878967, 0.0919915959239006], "std": [0.012590988539159298, 0.14382006227970123, 0.016471661627292633, 0.23642507195472717, 0.012291005812585354, 0.140144482254982, 0.03610898554325104, 0.1823771446943283], "count": [253]}, "observation.joint_position": {"min": [-0.01082808431237936, 0.003104559378698468, -0.012304252944886684, -2.7786548137664795, -0.021066004410386086, 2.5008552074432373, 0.7409999966621399], "max": [0.039544735103845596, 0.40430065989494324, 0.02671040967106819, -2.2375340461730957, 0.03535448759794235, 2.9104411602020264, 0.8662999272346497], "mean": [0.022916588932275772, 0.23667635023593903, 0.0031999037601053715, -2.4550247192382812, -0.0031030073296278715, 2.6874194145202637, 0.8160634636878967], "std": [0.012590988539159298, 0.14382006227970123, 0.016471661627292633, 0.23642507195472717, 0.012291005812585354, 0.140144482254982, 0.03610898554325104], "count": [253]}, "observation.eef_pose_quaternion": {"min": [0.3831653296947479, -0.005122240167111158, 0.1823309361934662, 0.9992426633834839, -0.008850707672536373, -0.018592238426208496, -0.010780991986393929], "max": [0.5423522591590881, 0.026166601106524467, 0.2634388506412506, 0.999996542930603, 0.006012575700879097, 0.037954315543174744, 0.002522296505048871], "mean": [0.4795915186405182, 0.011039314791560173, 0.20279423892498016, 0.9998401403427124, -0.0004708192136604339, -0.0020985668525099754, 0.00043100895709358156], "std": [0.06880927830934525, 0.011084923520684242, 0.021629497408866882, 0.000119099480798468, 0.0023955432698130608, 0.017339671030640602, 0.0028410707600414753], "count": [253]}, "observation.eef_pose_rotvec": {"min": [0.3831653296947479, -0.005122240167111158, 0.1823309361934662, -3.141331195831299, -0.027510011568665504, -0.11631642282009125], "max": [0.5423522591590881, 0.026166601106524467, 0.2634388506412506, 3.141364812850952, 0.027803093194961548, 0.11919345706701279], "mean": [0.4795915186405182, 0.011039314791560173, 0.20279423892498016, 1.4269376993179321, -0.001145767280831933, -0.02352220192551613], "std": [0.06880927830934525, 0.011084923520684242, 0.021629497408866882, 2.794240951538086, 0.00757655780762434, 0.0495157428085804], "count": [253]}, "observation.eef_rotation_matrix": {"min": [0.9969724416732788, -0.017686650156974792, -0.03718159720301628, -0.017707988619804382, -1.0, -0.005018324125558138, -0.03717425465583801, -0.021637046709656715, -0.999994158744812], "max": [0.9999938607215881, 0.012021074071526527, 0.07584131509065628, 0.012027096934616566, -0.9997513890266418, 0.021480126306414604, 0.07586096227169037, 0.0050691869109869, -0.9971182942390442], "mean": [0.9993784427642822, -0.0009193788864649832, -0.00420299032703042, -0.0009626540122553706, -0.9999715089797974, -0.0008944772416725755, -0.004193233326077461, 0.0008291843114420772, -0.9993736147880554], "std": [0.0004817093722522259, 0.004770186264067888, 0.034673191606998444, 0.004809239879250526, 5.5205575336003676e-05, 0.005657878238707781, 0.03466779738664627, 0.005707864183932543, 0.00045077272807247937], "count": [253]}, "observation.gripper": {"min": [0.0], "max": [0.47733718156814575], "mean": [0.09199168533086777], "std": [0.1823769062757492], "count": [253]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019095495343208313, 0.01909584552049637], "mean": [0.0036796503700315952, 0.0036796797066926956], "std": [0.007295049726963043, 0.007295098155736923], "count": [253]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186974823474884], "mean": [0.007359335198998451], "std": [0.014590153470635414], "count": [253]}, "timestamp": {"min": [0.0], "max": [4.2], "mean": [2.0999999999999996], "std": [1.217237309100681], "count": [253]}, "frame_index": {"min": [0], "max": [252], "mean": [126.0], "std": [73.03423854604085], "count": [253]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [253]}, "index": {"min": [3257], "max": [3509], "mean": [3383.0], "std": [73.03423854604085], "count": [253]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [253]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6293484477124184]], [[0.6025700571895425]], [[0.5734992647058823]]], "std": [[[0.18632957696002958]], [[0.1924068355697833]], [[0.20173676583865716]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9529411764705882]], [[0.9686274509803922]]], "mean": [[[0.5014617647058823]], [[0.4751450245098039]], [[0.44657396786492376]]], "std": [[[0.18273827182936955]], [[0.184942908686841]], [[0.1891236593851625]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7176470588235294]], [[0.6901960784313725]], [[0.7647058823529411]]], "mean": [[[0.3321869505718954]], [[0.4075049836601307]], [[0.48174381535947713]]], "std": [[[0.1468611138447866]], [[0.11566441461148047]], [[0.15046893239081446]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7607843137254902]], [[0.6823529411764706]], [[0.7529411764705882]]], "mean": [[[0.3291455596405229]], [[0.4197051327614379]], [[0.48197173815359473]]], "std": [[[0.14356034627232553]], [[0.12334835208619498]], [[0.1534038715624327]]], "count": [100]}}}
+{"episode_index": 15, "stats": {"observation.state": {"min": [-0.01081501692533493, 0.03565269336104393, 0.00013061412028037012, -2.8189454078674316, -0.015745162963867188, 2.500786542892456, 0.7409999966621399, 1.1070643533839242e-11], "max": [0.060383155941963196, 0.3165716230869293, 0.010075128637254238, -2.433037757873535, 0.03535560145974159, 2.9935007095336914, 0.858840823173523, 0.4773358404636383], "mean": [0.027226103469729424, 0.1922234147787094, 0.002313076052814722, -2.5833823680877686, -0.00463267182931304, 2.8261172771453857, 0.8192234039306641, 0.10615643858909607], "std": [0.032988060265779495, 0.09850487858057022, 0.00227379915304482, 0.1686389148235321, 0.013037426397204399, 0.12234121561050415, 0.04258621111512184, 0.19237129390239716], "count": [217]}, "observation.joint_position": {"min": [-0.01081501692533493, 0.03565269336104393, 0.00013061412028037012, -2.8189454078674316, -0.015745162963867188, 2.500786542892456, 0.7409999966621399], "max": [0.060383155941963196, 0.3165716230869293, 0.010075128637254238, -2.433037757873535, 0.03535560145974159, 2.9935007095336914, 0.858840823173523], "mean": [0.027226103469729424, 0.1922234147787094, 0.002313076052814722, -2.5833823680877686, -0.00463267182931304, 2.8261172771453857, 0.8192234039306641], "std": [0.032988060265779495, 0.09850487858057022, 0.00227379915304482, 0.1686389148235321, 0.013037426397204399, 0.12234121561050415, 0.04258621111512184], "count": [217]}, "observation.eef_pose_quaternion": {"min": [0.37463808059692383, -0.005122210364788771, 0.17894834280014038, 0.998971700668335, -0.0008846521377563477, -0.013824675232172012, -0.010782314464449883], "max": [0.4916791319847107, 0.031102711334824562, 0.26345744729042053, 0.9999898672103882, 0.002839484717696905, 0.045252930372953415, 0.0012035714462399483], "mean": [0.44674885272979736, 0.01494910754263401, 0.19631090760231018, 0.9996005892753601, 9.915420378092676e-05, 0.025330083444714546, -0.0003466266207396984], "std": [0.05147448182106018, 0.0157083198428154, 0.02062542364001274, 0.00019646863802336156, 0.0008488564053550363, 0.012200354598462582, 0.0027408201713114977], "count": [217]}, "observation.eef_pose_rotvec": {"min": [0.37463808059692383, -0.005122210364788771, 0.17894834280014038, -3.140185832977295, -0.008859786204993725, -0.1419973373413086], "max": [0.4916791319847107, 0.031102711334824562, 0.26345744729042053, 3.140218734741211, 0.0027786509599536657, 0.11592772603034973], "mean": [0.44674885272979736, 0.01494910754263401, 0.19631090760231018, 0.4784589409828186, -0.0012330672470852733, 0.013590101152658463], "std": [0.05147448182106018, 0.0157083198428154, 0.02062542364001274, 3.1008894443511963, 0.002371187089011073, 0.08723333477973938], "count": [217]}, "observation.eef_rotation_matrix": {"min": [0.9958963394165039, -0.0017478797817602754, -0.027706224471330643, -0.0017889082664623857, -1.0, -0.0024317577481269836, -0.027583759278059006, -0.021639740094542503, -0.9999626874923706], "max": [0.9999955296516418, 0.0053799753077328205, 0.09040531516075134, 0.005976198241114616, -0.9997513294219971, 0.021482719108462334, 0.09042030572891235, 0.0023813187144696712, -0.9958973526954651], "mean": [0.9984176158905029, 0.00016572978347539902, 0.050631724298000336, 0.0002307891263626516, -0.9999845027923584, 0.0006854126113466918, 0.05064041540026665, -0.0007010127883404493, -0.9984033703804016], "std": [0.0008057481027208269, 0.0016707315808162093, 0.024397270753979683, 0.0017265311907976866, 5.391889135353267e-05, 0.0054720547050237656, 0.02437474951148033, 0.005489728879183531, 0.000786397373303771], "count": [217]}, "observation.gripper": {"min": [1.1070643533839242e-11], "max": [0.4773358404636383], "mean": [0.10615652054548264], "std": [0.19237124919891357], "count": [217]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909365877509117, 0.01909385807812214], "mean": [0.004246266093105078, 0.0042462535202503204], "std": [0.007694844156503677, 0.007694837637245655], "count": [217]}, "observation.gripper_width_m": {"min": [8.856514696967133e-13], "max": [0.03818686679005623], "mean": [0.00849252101033926], "std": [0.015389700420200825], "count": [217]}, "timestamp": {"min": [0.0], "max": [3.6], "mean": [1.8], "std": [1.044030650891055], "count": [217]}, "frame_index": {"min": [0], "max": [216], "mean": [108.0], "std": [62.6418390534633], "count": [217]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [217]}, "index": {"min": [3510], "max": [3726], "mean": [3618.0], "std": [62.6418390534633], "count": [217]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [217]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6271980419389979]], [[0.5976732489106753]], [[0.5665974673202614]]], "std": [[[0.178485533161555]], [[0.19142074526267977]], [[0.1988898652408129]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9529411764705882]], [[0.9607843137254902]]], "mean": [[[0.5000637608932462]], [[0.4733346078431373]], [[0.4449503404139433]]], "std": [[[0.1848017710307871]], [[0.1869686575214827]], [[0.19144159291879123]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7843137254901961]], [[0.6901960784313725]], [[0.7725490196078432]]], "mean": [[[0.3326483088235294]], [[0.4076134967320261]], [[0.48064109477124184]]], "std": [[[0.1495185557815685]], [[0.11600327732413862]], [[0.15061541880755785]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7568627450980392]], [[0.6862745098039216]], [[0.7529411764705882]]], "mean": [[[0.3280546323529412]], [[0.41927411356209154]], [[0.48194894607843136]]], "std": [[[0.14588276083138757]], [[0.12110671360698114]], [[0.15383325136073825]]], "count": [100]}}}
+{"episode_index": 16, "stats": {"observation.state": {"min": [-0.0354042612016201, 0.03977566212415695, -0.012241538614034653, -2.756767511367798, 0.0024732223246246576, 2.500838041305542, 0.7335189580917358, 1.52727011593079e-10], "max": [0.050625771284103394, 0.40381062030792236, 0.012723240070044994, -2.2636218070983887, 0.03536055237054825, 2.8828985691070557, 0.8230084776878357, 0.4773360788822174], "mean": [0.015109574422240257, 0.24657560884952545, -0.008257966488599777, -2.4564356803894043, 0.006972634233534336, 2.72389554977417, 0.7850810885429382, 0.09288852661848068], "std": [0.03780012205243111, 0.13677851855754852, 0.0053843120113015175, 0.21627597510814667, 0.007529203314334154, 0.10031410306692123, 0.04046247527003288, 0.18333937227725983], "count": [248]}, "observation.joint_position": {"min": [-0.0354042612016201, 0.03977566212415695, -0.012241538614034653, -2.756767511367798, 0.0024732223246246576, 2.500838041305542, 0.7335189580917358], "max": [0.050625771284103394, 0.40381062030792236, 0.012723240070044994, -2.2636218070983887, 0.03536055237054825, 2.8828985691070557, 0.8230084776878357], "mean": [0.015109574422240257, 0.24657560884952545, -0.008257966488599777, -2.4564356803894043, 0.006972634233534336, 2.72389554977417, 0.7850810885429382], "std": [0.03780012205243111, 0.13677851855754852, 0.0053843120113015175, 0.21627597510814667, 0.007529203314334154, 0.10031410306692123, 0.04046247527003288], "count": [248]}, "observation.eef_pose_quaternion": {"min": [0.3895866870880127, -0.018902814015746117, 0.18065816164016724, 0.9985752701759338, -0.00582387438043952, -0.015794645994901657, -0.010781257413327694], "max": [0.5408132672309875, 0.02303532138466835, 0.26343923807144165, 0.9999985098838806, 0.019552666693925858, 0.050850823521614075, 0.0005835904739797115], "mean": [0.4819895923137665, 0.00544308265671134, 0.2006671279668808, 0.9998584389686584, 0.0006983409984968603, 0.010480469092726707, -0.0007322849123738706], "std": [0.06631284952163696, 0.017575303092598915, 0.021748987957835197, 0.000266385730355978, 0.004096731077879667, 0.01213095709681511, 0.0026141717098653316], "count": [248]}, "observation.eef_pose_rotvec": {"min": [0.3895866870880127, -0.018902814015746117, 0.18065816164016724, -3.1415655612945557, -0.0613284595310688, -0.15940560400485992], "max": [0.5408132672309875, 0.02303532138466835, 0.26343923807144165, 3.1415657997131348, 0.025289440527558327, 0.06196599826216698], "mean": [0.4819895923137665, 0.00544308265671134, 0.2006671279668808, 0.7869940996170044, -0.004063356202095747, 0.013076494447886944], "std": [0.06631284952163696, 0.017575303092598915, 0.021748987957835197, 3.038451671600342, 0.012388286180794239, 0.048569951206445694], "count": [248]}, "observation.eef_rotation_matrix": {"min": [0.9943272471427917, -0.011712702922523022, -0.031556807458400726, -0.011579755693674088, -1.0, -0.0011989001650363207, -0.0316128171980381, -0.021637611091136932, -0.9999983906745911], "max": [0.9999942779541016, 0.03928734362125397, 0.101456418633461, 0.038825467228889465, -0.9992227554321289, 0.02148061990737915, 0.10165999084711075, 0.0011364446254447103, -0.9948049783706665], "mean": [0.9994513988494873, 0.0013886637752875686, 0.020946089178323746, 0.0014005720149725676, -0.999951958656311, 0.0015410095220431685, 0.02095993608236313, -0.0013870731927454472, -0.9994713664054871], "std": [0.0010633232304826379, 0.008231519721448421, 0.02423279732465744, 0.008140473626554012, 0.00013490817218553275, 0.005285813007503748, 0.02425089105963707, 0.0051897186785936356, 0.0009595713927410543], "count": [248]}, "observation.gripper": {"min": [1.52727011593079e-10], "max": [0.4773360788822174], "mean": [0.09288859367370605], "std": [0.183339461684227], "count": [248]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019095471128821373, 0.019095925614237785], "mean": [0.00371556100435555, 0.003715521888807416], "std": [0.007333586923778057, 0.007333554793149233], "count": [248]}, "observation.gripper_width_m": {"min": [1.2218160511112686e-11], "max": [0.03818688541650772], "mean": [0.007431088015437126], "std": [0.014667156152427197], "count": [248]}, "timestamp": {"min": [0.0], "max": [4.116666666666666], "mean": [2.0583333333333336], "std": [1.1931808561804684], "count": [248]}, "frame_index": {"min": [0], "max": [247], "mean": [123.5], "std": [71.5908513708281], "count": [248]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [248]}, "index": {"min": [3727], "max": [3974], "mean": [3850.5], "std": [71.5908513708281], "count": [248]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [248]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.629824741285403]], [[0.6042029275599129]], [[0.5754033877995642]]], "std": [[[0.18095466180250944]], [[0.18904382219623198]], [[0.1987610523717175]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9803921568627451]], [[0.9411764705882353]], [[0.9568627450980393]]], "mean": [[[0.5021920588235295]], [[0.4756222086056645]], [[0.44690674291939]]], "std": [[[0.1822885419822606]], [[0.18525674594241573]], [[0.18946703807071064]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7333333333333333]], [[0.6823529411764706]], [[0.7725490196078432]]], "mean": [[[0.3338632986111111]], [[0.40549104575163397]], [[0.4786651531862745]]], "std": [[[0.1500683890242289]], [[0.11592474331634724]], [[0.15088572311128226]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7607843137254902]], [[0.6941176470588235]], [[0.7647058823529411]]], "mean": [[[0.3265282557189543]], [[0.4167677798202614]], [[0.4807372160947712]]], "std": [[[0.14571081522927504]], [[0.12130308760484919]], [[0.15435058474837554]]], "count": [100]}}}
+{"episode_index": 17, "stats": {"observation.state": {"min": [-0.04238148778676987, 0.05649597570300102, -0.003916187211871147, -2.7966949939727783, -0.033164169639348984, 2.5008342266082764, 0.7195346355438232, 6.381186377912851e-12], "max": [0.018788833171129227, 0.31161320209503174, 0.009997693821787834, -2.433037757873535, 0.03535603731870651, 3.0914511680603027, 0.8334527611732483, 0.4773363173007965], "mean": [-0.01678919978439808, 0.20440158247947693, 0.003803734900429845, -2.6042869091033936, 0.010521362535655499, 2.9488043785095215, 0.7614027261734009, 0.1034076064825058], "std": [0.027225743979215622, 0.08675086498260498, 0.005219908896833658, 0.13294854760169983, 0.027997372671961784, 0.13051293790340424, 0.04943011328577995, 0.19085530936717987], "count": [232]}, "observation.joint_position": {"min": [-0.04238148778676987, 0.05649597570300102, -0.003916187211871147, -2.7966949939727783, -0.033164169639348984, 2.5008342266082764, 0.7195346355438232], "max": [0.018788833171129227, 0.31161320209503174, 0.009997693821787834, -2.433037757873535, 0.03535603731870651, 3.0914511680603027, 0.8334527611732483], "mean": [-0.01678919978439808, 0.20440158247947693, 0.003803734900429845, -2.6042869091033936, 0.010521362535655499, 2.9488043785095215, 0.7614027261734009], "std": [0.027225743979215622, 0.08675086498260498, 0.005219908896833658, 0.13294854760169983, 0.027997372671961784, 0.13051293790340424, 0.04943011328577995], "count": [232]}, "observation.eef_pose_quaternion": {"min": [0.38951659202575684, -0.01817970722913742, 0.17996811866760254, 0.9959957599639893, -0.0016449496615678072, -0.013820081949234009, -0.010781671851873398], "max": [0.485611230134964, 0.008702428080141544, 0.2634444236755371, 0.9999831318855286, 0.0028393971733748913, 0.08938446640968323, 0.0011291655246168375], "mean": [0.4486340582370758, -0.007068675942718983, 0.19653061032295227, 0.9972583651542664, 0.0005772591102868319, 0.07009214907884598, -0.0015297532081604004], "std": [0.041162870824337006, 0.012051071040332317, 0.020235422998666763, 0.0008609318756498396, 0.0007619779207743704, 0.02350427396595478, 0.0023420648649334908], "count": [232]}, "observation.eef_pose_rotvec": {"min": [0.38951659202575684, -0.01817970722913742, 0.17996811866760254, -3.137483835220337, -0.008859517052769661, -0.27568843960762024], "max": [0.485611230134964, 0.008702428080141544, 0.2634444236755371, 3.1348764896392822, 0.007410246878862381, 0.28075987100601196], "mean": [0.4486340582370758, -0.007068675942718983, 0.19653061032295227, -1.8337843418121338, -0.0012179453624412417, -0.12072671949863434], "std": [0.041162870824337006, 0.012051071040332317, 0.020235422998666763, 2.5362367630004883, 0.002733994508162141, 0.19821953773498535], "count": [232]}, "observation.eef_rotation_matrix": {"min": [0.9840154051780701, -0.0033264579251408577, -0.02769702859222889, -0.00322699430398643, -1.0, -0.0019279555417597294, -0.027574589475989342, -0.021638410165905952, -0.9999408721923828], "max": [0.9999917149543762, 0.005379960406571627, 0.17805220186710358, 0.005975847598165274, -0.9997513890266418, 0.021481484174728394, 0.17805403470993042, 0.002596450038254261, -0.9840206503868103], "mean": [0.9890676736831665, 0.0012732648756355047, 0.13975657522678375, 0.0010314835235476494, -0.9999852180480957, 0.0031070085242390633, 0.13976503908634186, -0.0030011679045856, -0.9890539050102234], "std": [0.0034746136516332626, 0.0014669675147160888, 0.04688117280602455, 0.0015935087576508522, 5.116145985084586e-05, 0.0046580471098423, 0.04685785248875618, 0.004708918277174234, 0.0034408066421747208], "count": [232]}, "observation.gripper": {"min": [6.381186377912851e-12], "max": [0.4773363173007965], "mean": [0.10340771079063416], "std": [0.19085511565208435], "count": [232]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094210118055344, 0.019094694405794144], "mean": [0.004136312287300825, 0.004136302042752504], "std": [0.0076342131942510605, 0.007634218316525221], "count": [232]}, "observation.gripper_width_m": {"min": [5.104949124014324e-13], "max": [0.03818690404295921], "mean": [0.008272616192698479], "std": [0.015268408693373203], "count": [232]}, "timestamp": {"min": [0.0], "max": [3.85], "mean": [1.925], "std": [1.1162001513070037], "count": [232]}, "frame_index": {"min": [0], "max": [231], "mean": [115.5], "std": [66.97200907842021], "count": [232]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [232]}, "index": {"min": [3975], "max": [4206], "mean": [4090.5], "std": [66.97200907842021], "count": [232]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [232]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6198610511982571]], [[0.6002503240740741]], [[0.5707197167755991]]], "std": [[[0.18640021943789195]], [[0.1891594172139772]], [[0.1973798443427247]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9803921568627451]], [[0.9372549019607843]], [[0.9490196078431372]]], "mean": [[[0.5064457162309368]], [[0.4744294090413943]], [[0.4455492892156863]]], "std": [[[0.18823031166737436]], [[0.18904522133320037]], [[0.19387323622172414]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8117647058823529]], [[0.6980392156862745]], [[0.7803921568627451]]], "mean": [[[0.3323480800653595]], [[0.4054170874183006]], [[0.48251993055555553]]], "std": [[[0.14890953287135167]], [[0.11525884800440607]], [[0.1503513084208385]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8274509803921568]], [[0.6901960784313725]], [[0.7529411764705882]]], "mean": [[[0.33065550449346404]], [[0.41542566380718954]], [[0.48051941584967317]]], "std": [[[0.1489203230983648]], [[0.12061788325070424]], [[0.15111867945706622]]], "count": [100]}}}
+{"episode_index": 18, "stats": {"observation.state": {"min": [-0.051718927919864655, 0.003160065272822976, -0.02912680245935917, -2.8234524726867676, -0.007893162779510021, 2.500839948654175, 0.6807469129562378, 0.0], "max": [0.06349177658557892, 0.40662696957588196, 0.000734419678337872, -2.2571330070495605, 0.03536638244986534, 2.957001209259033, 0.8326608538627625, 0.4773361384868622], "mean": [0.013472253456711769, 0.22930705547332764, -0.02378089725971222, -2.486567497253418, 0.009175878949463367, 2.761094570159912, 0.7679453492164612, 0.09875966608524323], "std": [0.05199646204710007, 0.1507379561662674, 0.007055877707898617, 0.2505807876586914, 0.01700364612042904, 0.12764675915241241, 0.06674924492835999, 0.18766288459300995], "count": [255]}, "observation.joint_position": {"min": [-0.051718927919864655, 0.003160065272822976, -0.02912680245935917, -2.8234524726867676, -0.007893162779510021, 2.500839948654175, 0.6807469129562378], "max": [0.06349177658557892, 0.40662696957588196, 0.000734419678337872, -2.2571330070495605, 0.03536638244986534, 2.957001209259033, 0.8326608538627625], "mean": [0.013472253456711769, 0.22930705547332764, -0.02378089725971222, -2.486567497253418, 0.009175878949463367, 2.761094570159912, 0.7679453492164612], "std": [0.05199646204710007, 0.1507379561662674, 0.007055877707898617, 0.2505807876586914, 0.01700364612042904, 0.12764675915241241, 0.06674924492835999], "count": [255]}, "observation.eef_pose_quaternion": {"min": [0.37180212140083313, -0.030360709875822067, 0.18241214752197266, 0.9974495768547058, -0.003292958252131939, -0.02690885402262211, -0.010781187564134598], "max": [0.5447794198989868, 0.01949511468410492, 0.26343977451324463, 0.9999926090240479, 0.007440952584147453, 0.0709841400384903, 0.006114518735557795], "mean": [0.4745698869228363, -0.0018380476394668221, 0.20263367891311646, 0.9995664358139038, -0.00024229778500739485, 0.02283051423728466, 0.001840533223003149], "std": [0.0770881325006485, 0.022345535457134247, 0.021409280598163605, 0.0004534774925559759, 0.002163525903597474, 0.01777048036456108, 0.004538095090538263], "count": [255]}, "observation.eef_pose_rotvec": {"min": [0.37180212140083313, -0.030360709875822067, 0.18241214752197266, -3.1405532360076904, -0.023373598232865334, -0.22297611832618713], "max": [0.5447794198989868, 0.01949511468410492, 0.26343977451324463, 3.140545606613159, 0.02304655686020851, 0.22099389135837555], "mean": [0.4745698869228363, -0.0018380476394668221, 0.20263367891311646, 0.9198662042617798, -0.0019372389651834965, 0.04125019907951355], "std": [0.0770881325006485, 0.022345535457134247, 0.021409280598163605, 2.9946341514587402, 0.006545446813106537, 0.08082719147205353], "count": [255]}, "observation.eef_rotation_matrix": {"min": [0.9898117780685425, -0.0067687141709029675, -0.053769875317811966, -0.006400309037417173, -1.0, -0.012313558720052242, -0.05382422357797623, -0.021637476980686188, -0.9999754428863525], "max": [0.9999803304672241, 0.01487110834568739, 0.14160338044166565, 0.014816797338426113, -0.9997513294219971, 0.02148047648370266, 0.1416090726852417, 0.012136206030845642, -0.9899224042892456], "mean": [0.99831622838974, -0.0006538648158311844, 0.04561921954154968, -0.0003180273051839322, -0.9999437928199768, -0.003660148475319147, 0.04564087465405464, 0.003699052380397916, -0.9982786178588867], "std": [0.0018291291780769825, 0.00438273511826992, 0.03549813851714134, 0.004263135138899088, 5.564186358242296e-05, 0.009121794253587723, 0.035489484667778015, 0.00903108436614275, 0.001793312607333064], "count": [255]}, "observation.gripper": {"min": [0.0], "max": [0.4773361384868622], "mean": [0.09875975549221039], "std": [0.18766309320926666], "count": [255]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909465342760086, 0.01909486949443817], "mean": [0.0039503867737948895, 0.003950387705117464], "std": [0.007506514433771372, 0.007506511174142361], "count": [255]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818688914179802], "mean": [0.007900780066847801], "std": [0.015013046562671661], "count": [255]}, "timestamp": {"min": [0.0], "max": [4.233333333333333], "mean": [2.1166666666666667], "std": [1.2268598881637567], "count": [255]}, "frame_index": {"min": [0], "max": [254], "mean": [127.0], "std": [73.6115932898254], "count": [255]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [255]}, "index": {"min": [4207], "max": [4461], "mean": [4334.0], "std": [73.6115932898254], "count": [255]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [255]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6296660185185186]], [[0.6052021323529412]], [[0.576458491285403]]], "std": [[[0.18111641924712596]], [[0.18786413015917194]], [[0.19771126770854136]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.996078431372549]], [[0.9490196078431372]], [[0.9568627450980393]]], "mean": [[[0.5018276062091503]], [[0.47889882352941177]], [[0.4500513507625272]]], "std": [[[0.18290477563658297]], [[0.1845586942733601]], [[0.18907812170867175]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7372549019607844]], [[0.6823529411764706]], [[0.7372549019607844]]], "mean": [[[0.3328359885620915]], [[0.4078909783496732]], [[0.48119820465686275]]], "std": [[[0.14801884346212238]], [[0.11634496651715934]], [[0.15040728775327655]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7647058823529411]], [[0.6862745098039216]], [[0.7450980392156863]]], "mean": [[[0.3299301143790849]], [[0.41878649509803917]], [[0.4815126368464052]]], "std": [[[0.14557126375633345]], [[0.12208161807668579]], [[0.15287495938567247]]], "count": [100]}}}
+{"episode_index": 19, "stats": {"observation.state": {"min": [-0.010837947018444538, 0.09602736681699753, 0.0007342989556491375, -2.5832855701446533, -0.001799657242372632, 2.4283645153045654, 0.7409999966621399, 2.126964403215137e-12], "max": [0.04029734432697296, 0.4524334669113159, 0.027036773040890694, -2.143419027328491, 0.03535447642207146, 2.668903350830078, 0.8398511409759521, 0.4773373305797577], "mean": [0.03253360837697983, 0.311894029378891, 0.013506106100976467, -2.3128433227539062, 0.003220482962206006, 2.522993564605713, 0.8283990025520325, 0.0800561010837555], "std": [0.011376991868019104, 0.1322546899318695, 0.0077425590716302395, 0.1944975107908249, 0.00824862252920866, 0.08038143813610077, 0.02092481590807438, 0.1723131537437439], "count": [246]}, "observation.joint_position": {"min": [-0.010837947018444538, 0.09602736681699753, 0.0007342989556491375, -2.5832855701446533, -0.001799657242372632, 2.4283645153045654, 0.7409999966621399], "max": [0.04029734432697296, 0.4524334669113159, 0.027036773040890694, -2.143419027328491, 0.03535447642207146, 2.668903350830078, 0.8398511409759521], "mean": [0.03253360837697983, 0.311894029378891, 0.013506106100976467, -2.3128433227539062, 0.003220482962206006, 2.522993564605713, 0.8283990025520325], "std": [0.011376991868019104, 0.1322546899318695, 0.0077425590716302395, 0.1944975107908249, 0.00824862252920866, 0.08038143813610077, 0.02092481590807438], "count": [246]}, "observation.eef_pose_quaternion": {"min": [0.43058061599731445, -0.0051222313195466995, 0.17767032980918884, 0.997943103313446, -0.0057891192846000195, -0.06385168433189392, -0.01078097801655531], "max": [0.5598861575126648, 0.027130963280797005, 0.2634367048740387, 0.9998495578765869, 0.007219536695629358, -0.013425798155367374, 0.0012050686636939645], "mean": [0.5105991363525391, 0.023647448047995567, 0.19870403409004211, 0.9986393451690674, -3.2925556297414005e-05, -0.0508602000772953, -0.00018504976469557732], "std": [0.05570696294307709, 0.00670514814555645, 0.021466480568051338, 0.0004171620821580291, 0.0019606994464993477, 0.011013093404471874, 0.00266015762463212], "count": [246]}, "observation.eef_pose_rotvec": {"min": [0.43058061599731445, -0.0051222313195466995, 0.17767032980918884, -3.140474796295166, -0.02262067049741745, -0.19566120207309723], "max": [0.5598861575126648, 0.027130963280797005, 0.2634367048740387, 3.1403956413269043, 0.018174007534980774, 0.20033428072929382], "mean": [0.5105991363525391, 0.023647448047995567, 0.19870403409004211, 1.2496280670166016, -0.0005042741540819407, -0.07903044670820236], "std": [0.05570696294307709, 0.00670514814555645, 0.021466480568051338, 2.8747358322143555, 0.006125353276729584, 0.143004909157753], "count": [246]}, "observation.eef_rotation_matrix": {"min": [0.991789698600769, -0.011641794815659523, -0.1274624913930893, -0.01150338165462017, -1.0, -0.002378536621108651, -0.12741895020008087, -0.021637029945850372, -0.9994138479232788], "max": [0.9996239542961121, 0.013916710391640663, -0.026906784623861313, 0.014948446303606033, -0.9997513890266418, 0.02148008719086647, -0.02678832970559597, 0.0024351587053388357, -0.9918375015258789], "mean": [0.9945760369300842, -4.300197178963572e-05, -0.10157821327447891, -8.923739369492978e-05, -0.9999793171882629, 0.0003688616561703384, -0.10156760364770889, -0.0003731655015144497, -0.9945695400238037], "std": [0.0016981952358037233, 0.003833373077213764, 0.021964559331536293, 0.004005826078355312, 5.725898881792091e-05, 0.005256425589323044, 0.02198253758251667, 0.005383756943047047, 0.0016746752662584186], "count": [246]}, "observation.gripper": {"min": [2.126964403215137e-12], "max": [0.4773373305797577], "mean": [0.08005611598491669], "std": [0.17231298983097076], "count": [246]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909647509455681, 0.01909683272242546], "mean": [0.0032022378873080015, 0.0032022488303482533], "std": [0.006892483215779066, 0.006892547942698002], "count": [246]}, "observation.gripper_width_m": {"min": [1.7015715550981747e-13], "max": [0.03818698599934578], "mean": [0.006404488813132048], "std": [0.013785038143396378], "count": [246]}, "timestamp": {"min": [0.0], "max": [4.083333333333333], "mean": [2.0416666666666665], "std": [1.1835582728303602], "count": [246]}, "frame_index": {"min": [0], "max": [245], "mean": [122.5], "std": [71.01349636982161], "count": [246]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [246]}, "index": {"min": [4462], "max": [4707], "mean": [4584.5], "std": [71.01349636982161], "count": [246]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [246]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6221034667755991]], [[0.602553720043573]], [[0.5747403976034858]]], "std": [[[0.1851691772275713]], [[0.18778787416174547]], [[0.19745022438228918]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9529411764705882]], [[0.9568627450980393]], [[0.9725490196078431]]], "mean": [[[0.5005205038126361]], [[0.4695463316993464]], [[0.44166475762527235]]], "std": [[[0.18163140280379317]], [[0.18506229937530475]], [[0.18904399897402388]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6745098039215687]], [[0.6862745098039216]], [[0.8156862745098039]]], "mean": [[[0.3331926470588235]], [[0.4077532005718954]], [[0.47979680351307186]]], "std": [[[0.1467024856794317]], [[0.11565018564276028]], [[0.1520131344092762]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7490196078431373]], [[0.6901960784313725]], [[0.807843137254902]]], "mean": [[[0.3281358700980392]], [[0.4209254432189542]], [[0.48080086805555555]]], "std": [[[0.1436923138426388]], [[0.12160737180873042]], [[0.1553588094561914]]], "count": [100]}}}
+{"episode_index": 20, "stats": {"observation.state": {"min": [-0.03491507098078728, 0.09603051096200943, -0.02623101696372032, -2.597357749938965, -0.002255987608805299, 2.5008418560028076, 0.7256875038146973, 0.0], "max": [-0.010774485766887665, 0.32980820536613464, 0.0007344040786847472, -2.374483108520508, 0.035354480147361755, 2.720710515975952, 0.743055522441864, 0.47733622789382935], "mean": [-0.023509034886956215, 0.2353401929140091, -0.020762642845511436, -2.460303544998169, 0.005552870221436024, 2.63995099067688, 0.7364766001701355, 0.08666950464248657], "std": [0.007796835154294968, 0.07253305613994598, 0.005364983808249235, 0.09464740008115768, 0.007704407442361116, 0.05478988587856293, 0.007178525906056166, 0.1776599884033203], "count": [241]}, "observation.joint_position": {"min": [-0.03491507098078728, 0.09603051096200943, -0.02623101696372032, -2.597357749938965, -0.002255987608805299, 2.5008418560028076, 0.7256875038146973], "max": [-0.010774485766887665, 0.32980820536613464, 0.0007344040786847472, -2.374483108520508, 0.035354480147361755, 2.720710515975952, 0.743055522441864], "mean": [-0.023509034886956215, 0.2353401929140091, -0.020762642845511436, -2.460303544998169, 0.005552870221436024, 2.63995099067688, 0.7364766001701355], "std": [0.007796835154294968, 0.07253305613994598, 0.005364983808249235, 0.09464740008115768, 0.007704407442361116, 0.05478988587856293, 0.007178525906056166], "count": [241]}, "observation.eef_pose_quaternion": {"min": [0.43114715814590454, -0.02654542401432991, 0.1792309582233429, 0.9988120794296265, -0.0045913509093225, -0.0484616681933403, -0.010781208984553814], "max": [0.5008180737495422, -0.005121930502355099, 0.2634356617927551, 0.9999105334281921, 0.0034013523254543543, -0.012898989953100681, 0.0009320878889411688], "mean": [0.4744676947593689, -0.021215742453932762, 0.19837231934070587, 0.9995768070220947, 0.00017438549548387527, -0.02783798798918724, -0.0003058674046769738], "std": [0.02992582693696022, 0.004550718702375889, 0.01988098956644535, 0.0002244266652269289, 0.001184954890049994, 0.007808596361428499, 0.0026071106549352407], "count": [241]}, "observation.eef_pose_rotvec": {"min": [0.43114715814590454, -0.02654542401432991, 0.1792309582233429, -3.139573335647583, -0.008870557881891727, -0.11457247287034988], "max": [0.5008180737495422, -0.005121930502355099, 0.2634356617927551, 3.139909267425537, 0.014387999661266804, 0.15197895467281342], "mean": [0.4744676947593689, -0.021215742453932762, 0.19837231934070587, 1.238857626914978, 0.001184188760817051, -0.022979406639933586], "std": [0.02992582693696022, 0.004550718702375889, 0.01988098956644535, 2.882993698120117, 0.0035610839258879423, 0.08782362937927246], "count": [241]}, "observation.eef_rotation_matrix": {"min": [0.9952669143676758, -0.009543225169181824, -0.09678471833467484, -0.00880159717053175, -1.0, -0.0019376621348783374, -0.09683172404766083, -0.02163751609623432, -0.9996658563613892], "max": [0.9996443390846252, 0.0068226102739572525, -0.02579006552696228, 0.0067815338261425495, -0.9997513890266418, 0.02148052118718624, -0.025801297277212143, 0.0017904752166941762, -0.9952875971794128], "mean": [0.998325526714325, 0.00033652567071840167, -0.05564961954951286, 0.0003614668967202306, -0.9999839067459106, 0.0006148653337731957, -0.05564844608306885, -0.0006080156308598816, -0.9983144402503967], "std": [0.0009077414288185537, 0.0024000757839530706, 0.015590590424835682, 0.0023418201599270105, 5.186919588595629e-05, 0.005225383210927248, 0.015603109262883663, 0.005201360676437616, 0.0008958005346357822], "count": [241]}, "observation.gripper": {"min": [0.0], "max": [0.47733622789382935], "mean": [0.08666954189538956], "std": [0.17765994369983673], "count": [241]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909540966153145, 0.01909545622766018], "mean": [0.003466784954071045, 0.0034667756408452988], "std": [0.00710641173645854, 0.0071063959039747715], "count": [241]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186896592378616], "mean": [0.00693356292322278], "std": [0.014212794601917267], "count": [241]}, "timestamp": {"min": [0.0], "max": [4.0], "mean": [2.0], "std": [1.1595018087284057], "count": [241]}, "frame_index": {"min": [0], "max": [240], "mean": [120.0], "std": [69.57010852370435], "count": [241]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [241]}, "index": {"min": [4708], "max": [4948], "mean": [4828.0], "std": [69.57010852370435], "count": [241]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [241]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6214728540305011]], [[0.6022320724400871]], [[0.5725232924836601]]], "std": [[[0.18209580657086302]], [[0.18822237362182884]], [[0.19766155925072496]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9725490196078431]], [[0.9647058823529412]]], "mean": [[[0.5082995043572984]], [[0.4657794989106754]], [[0.4377783796296296]]], "std": [[[0.18929388019190557]], [[0.18932574209787634]], [[0.19392939852794]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7254901960784313]], [[0.6941176470588235]], [[0.7843137254901961]]], "mean": [[[0.33057270424836604]], [[0.4080241789215686]], [[0.48137819444444446]]], "std": [[[0.14616299478807668]], [[0.11563054476240713]], [[0.1524884964246912]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7568627450980392]], [[0.6901960784313725]], [[0.7764705882352941]]], "mean": [[[0.327703654003268]], [[0.4195095710784314]], [[0.4808356495098039]]], "std": [[[0.1449751906418369]], [[0.12207144691172618]], [[0.15484135506142124]]], "count": [100]}}}
+{"episode_index": 21, "stats": {"observation.state": {"min": [-0.01081215962767601, -0.003328788559883833, -0.010356088168919086, -2.7663965225219727, -0.019591322168707848, 2.500826358795166, 0.7409999966621399, 3.621677610587959e-11], "max": [0.03117687627673149, 0.42528289556503296, 0.010493656620383263, -2.1912283897399902, 0.03535442054271698, 2.8200442790985107, 0.8270859718322754, 0.47733649611473083], "mean": [0.017166191712021828, 0.2465650737285614, -0.0014278785092756152, -2.425386905670166, -0.007412440609186888, 2.638093948364258, 0.8091256618499756, 0.09946353733539581], "std": [0.01549777016043663, 0.16040053963661194, 0.009013899601995945, 0.2559942901134491, 0.014494485221803188, 0.11313024163246155, 0.021492980420589447, 0.1877303272485733], "count": [222]}, "observation.joint_position": {"min": [-0.01081215962767601, -0.003328788559883833, -0.010356088168919086, -2.7663965225219727, -0.019591322168707848, 2.500826358795166, 0.7409999966621399], "max": [0.03117687627673149, 0.42528289556503296, 0.010493656620383263, -2.1912283897399902, 0.03535442054271698, 2.8200442790985107, 0.8270859718322754], "mean": [0.017166191712021828, 0.2465650737285614, -0.0014278785092756152, -2.425386905670166, -0.007412440609186888, 2.638093948364258, 0.8091256618499756], "std": [0.01549777016043663, 0.16040053963661194, 0.009013899601995945, 0.2559942901134491, 0.014494485221803188, 0.11313024163246155, 0.021492980420589447], "count": [222]}, "observation.eef_pose_quaternion": {"min": [0.38317960500717163, -0.0051223719492554665, 0.184106707572937, 0.9996340870857239, -0.00513118552044034, -0.026954127475619316, -0.01078108511865139], "max": [0.5554409623146057, 0.014861395582556725, 0.2634461522102356, 0.9999665021896362, 0.0028399000875651836, -0.005099710542708635, 0.007408314384520054], "mean": [0.4851517677307129, 0.00810580886900425, 0.20266671478748322, 0.9998339414596558, -0.0006654117605648935, -0.016800662502646446, 0.0031252962071448565], "std": [0.07639440149068832, 0.005071458872407675, 0.02022465504705906, 5.5807060562074184e-05, 0.0012096591526642442, 0.0034573781304061413, 0.005003368016332388], "count": [222]}, "observation.eef_pose_rotvec": {"min": [0.38317960500717163, -0.0051223719492554665, 0.184106707572937, -3.14119029045105, -0.010950240306556225, -0.07120180875062943], "max": [0.5554409623146057, 0.014861395582556725, 0.2634461522102356, 3.141190767288208, 0.016060201451182365, 0.08458992838859558], "mean": [0.4851517677307129, 0.00810580886900425, 0.20266671478748322, 1.1540184020996094, -0.001192066352814436, -0.0176465455442667], "std": [0.07639440149068832, 0.005071458872407675, 0.02022465504705906, 2.911334991455078, 0.0041517894715070724, 0.05076130852103233], "count": [222]}, "observation.eef_rotation_matrix": {"min": [0.9985424876213074, -0.01051272451877594, -0.053883589804172516, -0.010006618686020374, -1.0, -0.014787926338613033, -0.05389348790049553, -0.02163725718855858, -0.9998836517333984], "max": [0.9999302625656128, 0.0053809951059520245, -0.010232855565845966, 0.005976824555546045, -0.9997513890266418, 0.021480286493897438, -0.010165303014218807, 0.014841131865978241, -0.9985414743423462], "mean": [0.999407947063446, -0.001231118105351925, -0.033603642135858536, -0.0014300619950518012, -0.9999278783798218, -0.006227181293070316, -0.033587146550416946, 0.0062721045687794685, -0.9993420243263245], "std": [0.00023653607058804482, 0.0023864724207669497, 0.006903936620801687, 0.002461422700434923, 6.306539580691606e-05, 0.009996904991567135, 0.006919527892023325, 0.0100134601816535, 0.00022193428594619036], "count": [222]}, "observation.gripper": {"min": [3.621677610587959e-11], "max": [0.47733649611473083], "mean": [0.09946366399526596], "std": [0.1877303272485733], "count": [222]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094007089734077, 0.01909451372921467], "mean": [0.003978529945015907, 0.00397855881601572], "std": [0.007509206887334585, 0.007509216666221619], "count": [222]}, "observation.gripper_width_m": {"min": [2.897342088470367e-12], "max": [0.03818691894412041], "mean": [0.007957092486321926], "std": [0.01501842588186264], "count": [222]}, "timestamp": {"min": [0.0], "max": [3.683333333333333], "mean": [1.8416666666666668], "std": [1.0680871617921381], "count": [222]}, "frame_index": {"min": [0], "max": [221], "mean": [110.5], "std": [64.0852297075283], "count": [222]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [222]}, "index": {"min": [4949], "max": [5170], "mean": [5059.5], "std": [64.0852297075283], "count": [222]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [222]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6298849618736384]], [[0.6048523611111111]], [[0.5759348202614379]]], "std": [[[0.1832124050812393]], [[0.18908700686001714]], [[0.19872120002805493]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9333333333333333]], [[0.9450980392156862]]], "mean": [[[0.5004823910675381]], [[0.47559845588235294]], [[0.4472150762527233]]], "std": [[[0.18239299700619177]], [[0.18403188131548917]], [[0.18826792688402944]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6980392156862745]], [[0.6901960784313725]], [[0.7568627450980392]]], "mean": [[[0.33263306576797386]], [[0.4078290339052288]], [[0.48081286764705883]]], "std": [[[0.1465585273344348]], [[0.11609948644028867]], [[0.1512923459543072]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6705882352941176]], [[0.6941176470588235]], [[0.788235294117647]]], "mean": [[[0.32867056168300657]], [[0.4200875531045752]], [[0.4823683721405229]]], "std": [[[0.14416797873290627]], [[0.12222505177555014]], [[0.15429761304146433]]], "count": [100]}}}
+{"episode_index": 22, "stats": {"observation.state": {"min": [-0.010840266942977905, 0.05074929818511009, -0.00825674831867218, -2.829369306564331, -0.022944295778870583, 2.5007922649383545, 0.7403292059898376, 2.7458163520677203e-10], "max": [0.02286759577691555, 0.37388062477111816, 0.02239326573908329, -2.3791463375091553, 0.035356804728507996, 3.0854692459106445, 0.8136465549468994, 0.4773375689983368], "mean": [0.007154248654842377, 0.23253552615642548, -0.00014366691175382584, -2.547538995742798, -0.0001604910212336108, 2.9042656421661377, 0.7884897589683533, 0.10048676282167435], "std": [0.006758896633982658, 0.12148842960596085, 0.006631956901401281, 0.20035606622695923, 0.014840992167592049, 0.13752739131450653, 0.01795225590467453, 0.18879882991313934], "count": [234]}, "observation.joint_position": {"min": [-0.010840266942977905, 0.05074929818511009, -0.00825674831867218, -2.829369306564331, -0.022944295778870583, 2.5007922649383545, 0.7403292059898376], "max": [0.02286759577691555, 0.37388062477111816, 0.02239326573908329, -2.3791463375091553, 0.035356804728507996, 3.0854692459106445, 0.8136465549468994], "mean": [0.007154248654842377, 0.23253552615642548, -0.00014366691175382584, -2.547538995742798, -0.0001604910212336108, 2.9042656421661377, 0.7884897589683533], "std": [0.006758896633982658, 0.12148842960596085, 0.006631956901401281, 0.20035606622695923, 0.014840992167592049, 0.13752739131450653, 0.01795225590467453], "count": [234]}, "observation.eef_pose_quaternion": {"min": [0.37688565254211426, -0.005122684873640537, 0.17945817112922668, 0.9968332648277283, -0.0007283842423930764, -0.013823462650179863, -0.010782517492771149], "max": [0.5184324979782104, 0.01966141164302826, 0.263458251953125, 0.9998786449432373, 0.027767982333898544, 0.07948371022939682, 0.00025725297746248543], "mean": [0.4640500545501709, 0.003381771966814995, 0.19631251692771912, 0.9978172183036804, 0.002405470237135887, 0.06206664815545082, -0.0009241309599019587], "std": [0.06267324090003967, 0.0033304777462035418, 0.020948626101017, 0.0006908142240718007, 0.005148633383214474, 0.02164565771818161, 0.002245876705273986], "count": [234]}, "observation.eef_pose_rotvec": {"min": [0.37688565254211426, -0.005122684873640537, 0.17945817112922668, -3.1393883228302, -0.08718915283679962, -0.2496435046195984], "max": [0.5184324979782104, 0.01966141164302826, 0.263458251953125, 3.138446569442749, 0.02368699014186859, 0.2166081666946411], "mean": [0.4640500545501709, 0.003381771966814995, 0.19631251692771912, -1.310987114906311, -0.0064558046869933605, -0.07497074455022812], "std": [0.06267324090003967, 0.0033304777462035418, 0.020948626101017, 2.8453469276428223, 0.016627078875899315, 0.19236025214195251], "count": [234]}, "observation.eef_rotation_matrix": {"min": [0.9873538613319397, -0.001386736985296011, -0.027703793719410896, -0.0015199949266389012, -1.0, -0.0002828176657203585, -0.027581339702010155, -0.021640123799443245, -0.9999759197235107], "max": [0.9996761083602905, 0.05551435425877571, 0.15846224129199982, 0.05531167984008789, -0.9984564781188965, 0.021483147516846657, 0.15846586227416992, 0.001772431656718254, -0.9873643517494202], "mean": [0.9912933111190796, 0.004832361824810505, 0.1238245815038681, 0.0047742142342031, -0.9999242424964905, 0.002058549551293254, 0.12384256720542908, -0.0016345581971108913, -0.9913461804389954], "std": [0.0027930387295782566, 0.010276910848915577, 0.0432124100625515, 0.010283604264259338, 0.00023193261586129665, 0.004464070778340101, 0.04316585883498192, 0.004590507596731186, 0.002816310152411461], "count": [234]}, "observation.gripper": {"min": [2.7458163520677203e-10], "max": [0.4773375689983368], "mean": [0.10048678517341614], "std": [0.18879885971546173], "count": [234]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019095297902822495, 0.019095303490757942], "mean": [0.004019460640847683, 0.0040194811299443245], "std": [0.007551969960331917, 0.007551940158009529], "count": [234]}, "observation.gripper_width_m": {"min": [2.1966529289985104e-11], "max": [0.03818700462579727], "mean": [0.008038941770792007], "std": [0.015103909187018871], "count": [234]}, "timestamp": {"min": [0.0], "max": [3.8833333333333333], "mean": [1.9416666666666669], "std": [1.125822744419321], "count": [234]}, "frame_index": {"min": [0], "max": [233], "mean": [116.5], "std": [67.54936466515926], "count": [234]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [234]}, "index": {"min": [5171], "max": [5404], "mean": [5287.5], "std": [67.54936466515926], "count": [234]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [234]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.628221339869281]], [[0.6010652205882353]], [[0.5722769035947712]]], "std": [[[0.18350561014748912]], [[0.1907780470589889]], [[0.199442192820863]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9803921568627451]], [[0.9411764705882353]], [[0.9568627450980393]]], "mean": [[[0.5021812636165578]], [[0.4784211791938998]], [[0.4491564297385621]]], "std": [[[0.18355865949505623]], [[0.1861847166122725]], [[0.19088265201891758]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.807843137254902]], [[0.6862745098039216]], [[0.7803921568627451]]], "mean": [[[0.3311150510620915]], [[0.4050653778594771]], [[0.48294597017973856]]], "std": [[[0.14847999118297092]], [[0.11554273929080633]], [[0.15090704355384274]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8]], [[0.6941176470588235]], [[0.7411764705882353]]], "mean": [[[0.33058308619281046]], [[0.4147425510620915]], [[0.4788792463235294]]], "std": [[[0.1498601881176424]], [[0.12029174593331045]], [[0.1508657375331461]]], "count": [100]}}}
+{"episode_index": 23, "stats": {"observation.state": {"min": [-0.018077122047543526, 0.038280438631772995, -0.03422003611922264, -2.7608578205108643, -0.018490690737962723, 2.500828504562378, 0.7099104523658752, 1.7827119988544915e-11], "max": [0.019039709120988846, 0.40791869163513184, 0.01046331413090229, -2.2970545291900635, 0.03684154152870178, 2.991441488265991, 0.8241973519325256, 0.4773370027542114], "mean": [-0.004555718041956425, 0.2554919123649597, -0.01431803684681654, -2.4764504432678223, 0.015987252816557884, 2.8136396408081055, 0.7541904449462891, 0.10192964226007462], "std": [0.014174377545714378, 0.13269995152950287, 0.017187274992465973, 0.2020040601491928, 0.022961152717471123, 0.11938777565956116, 0.049579523503780365, 0.18964073061943054], "count": [226]}, "observation.joint_position": {"min": [-0.018077122047543526, 0.038280438631772995, -0.03422003611922264, -2.7608578205108643, -0.018490690737962723, 2.500828504562378, 0.7099104523658752], "max": [0.019039709120988846, 0.40791869163513184, 0.01046331413090229, -2.2970545291900635, 0.03684154152870178, 2.991441488265991, 0.8241973519325256], "mean": [-0.004555718041956425, 0.2554919123649597, -0.01431803684681654, -2.4764504432678223, 0.015987252816557884, 2.8136396408081055, 0.7541904449462891], "std": [0.014174377545714378, 0.13269995152950287, 0.017187274992465973, 0.2020040601491928, 0.022961152717471123, 0.11938777565956116, 0.049579523503780365], "count": [226]}, "observation.eef_pose_quaternion": {"min": [0.3958606719970703, -0.027467966079711914, 0.17887955904006958, 0.9981940984725952, -0.0068697091192007065, -0.01714101992547512, -0.010781703516840935], "max": [0.5358247756958008, 0.012576206587255001, 0.2634463310241699, 0.9999703168869019, 0.0036910425405949354, 0.059967830777168274, 0.002654933137819171], "mean": [0.48166191577911377, -0.011682996526360512, 0.19844281673431396, 0.9990164637565613, -0.00023589706688653678, 0.04093938693404198, 6.046788257663138e-05], "std": [0.06152429059147835, 0.016543949022889137, 0.022221174091100693, 0.000330499344272539, 0.001422394998371601, 0.016781236976385117, 0.0027438232209533453], "count": [226]}, "observation.eef_pose_rotvec": {"min": [0.3958606719970703, -0.027467966079711914, 0.17887955904006958, -3.1393370628356934, -0.011595606803894043, -0.14916357398033142], "max": [0.5358247756958008, 0.012576206587255001, 0.2634463310241699, 3.1392974853515625, 0.021544424816966057, 0.18807673454284668], "mean": [0.48166191577911377, -0.011682996526360512, 0.19844281673431396, 2.11015248298645, -0.0006169164553284645, 0.11597397923469543], "std": [0.06152429059147835, 0.016543949022889137, 0.022221174091100693, 2.3192498683929443, 0.004476570524275303, 0.07646358013153076], "count": [226]}, "observation.eef_rotation_matrix": {"min": [0.9927970767021179, -0.013727056793868542, -0.03424679860472679, -0.013750961981713772, -1.0, -0.0055772410705685616, -0.034305136650800705, -0.021638473495841026, -0.9999755024909973], "max": [0.9998959898948669, 0.007378146518021822, 0.11970680952072144, 0.007375103421509266, -0.9997513890266418, 0.021481547504663467, 0.11973133683204651, 0.00502331368625164, -0.992793619632721], "mean": [0.9960805773735046, -0.0005633938126266003, 0.08178609609603882, -0.0003792812640313059, -0.9999822974205017, -0.00013911290443502367, 0.08178995549678802, 9.957459405995905e-05, -0.9960697293281555], "std": [0.0013524529058486223, 0.0028404120821505785, 0.03353122994303703, 0.0028496684972196817, 5.341434007277712e-05, 0.005491564515978098, 0.03352368250489235, 0.005481407046318054, 0.0013288019690662622], "count": [226]}, "observation.gripper": {"min": [1.7827119988544915e-11], "max": [0.4773370027542114], "mean": [0.10192972421646118], "std": [0.18964068591594696], "count": [226]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019095346331596375, 0.019095618277788162], "mean": [0.004077189601957798, 0.004077185411006212], "std": [0.007585601881146431, 0.0075856344774365425], "count": [226]}, "observation.gripper_width_m": {"min": [1.4261696207676366e-12], "max": [0.03818695992231369], "mean": [0.008154377341270447], "std": [0.015171254053711891], "count": [226]}, "timestamp": {"min": [0.0], "max": [3.75], "mean": [1.875], "std": [1.087332362558324], "count": [226]}, "frame_index": {"min": [0], "max": [225], "mean": [112.5], "std": [65.23994175349944], "count": [226]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [226]}, "index": {"min": [5405], "max": [5630], "mean": [5517.5], "std": [65.23994175349944], "count": [226]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [226]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6300844662309367]], [[0.6053104112200436]], [[0.5774941748366013]]], "std": [[[0.1918930097136738]], [[0.19487125239847472]], [[0.2047600702230767]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9490196078431372]], [[0.9647058823529412]]], "mean": [[[0.5024636628540305]], [[0.4778972739651416]], [[0.448777818627451]]], "std": [[[0.1838126196816978]], [[0.18669474545180587]], [[0.191118558119946]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7764705882352941]], [[0.6901960784313725]], [[0.7803921568627451]]], "mean": [[[0.3329252308006536]], [[0.4077263031045752]], [[0.48121701388888893]]], "std": [[[0.14978442970922798]], [[0.11594398298800732]], [[0.15013926308929165]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.788235294117647]], [[0.6941176470588235]], [[0.7450980392156863]]], "mean": [[[0.328669068627451]], [[0.4198161192810458]], [[0.4824437826797386]]], "std": [[[0.14632455020292245]], [[0.12187131324491429]], [[0.15319991692802776]]], "count": [100]}}}
+{"episode_index": 24, "stats": {"observation.state": {"min": [-0.021332906559109688, 0.05977964028716087, -0.021832432597875595, -2.6776859760284424, -0.0042593106627464294, 2.3989415168762207, 0.7409999966621399, 0.0], "max": [0.022697599604725838, 0.44324299693107605, 0.0007342915632762015, -2.1410152912139893, 0.03535433113574982, 2.7297136783599854, 0.7913959622383118, 0.47733569145202637], "mean": [0.004706635605543852, 0.2896233797073364, -0.017497414723038673, -2.3479299545288086, 0.0031190267764031887, 2.531158208847046, 0.7726161479949951, 0.09138930588960648], "std": [0.019854940474033356, 0.14661261439323425, 0.005203305743634701, 0.2373020052909851, 0.008408449590206146, 0.12206655740737915, 0.019332783296704292, 0.18153822422027588], "count": [239]}, "observation.joint_position": {"min": [-0.021332906559109688, 0.05977964028716087, -0.021832432597875595, -2.6776859760284424, -0.0042593106627464294, 2.3989415168762207, 0.7409999966621399], "max": [0.022697599604725838, 0.44324299693107605, 0.0007342915632762015, -2.1410152912139893, 0.03535433113574982, 2.7297136783599854, 0.7913959622383118], "mean": [0.004706635605543852, 0.2896233797073364, -0.017497414723038673, -2.3479299545288086, 0.0031190267764031887, 2.531158208847046, 0.7726161479949951], "std": [0.019854940474033356, 0.14661261439323425, 0.005203305743634701, 0.2373020052909851, 0.008408449590206146, 0.12206655740737915, 0.019332783296704292], "count": [239]}, "observation.eef_pose_quaternion": {"min": [0.4049992561340332, -0.015389153733849525, 0.18230405449867249, 0.9978245496749878, -0.004717298783361912, -0.06578178703784943, -0.010780945420265198], "max": [0.5592743158340454, 0.0006971224211156368, 0.2634391188621521, 0.9998428225517273, 0.0028614760376513004, -0.013782832771539688, 0.004256672691553831], "mean": [0.4998277723789215, -0.005454519297927618, 0.19891983270645142, 0.9984950423240662, -0.0008999451529234648, -0.053118277341127396, 0.0013477492611855268], "std": [0.06697720289230347, 0.007050001062452793, 0.018988696858286858, 0.000597347563598305, 0.001264305436052382, 0.012944295071065426, 0.0037421013694256544], "count": [239]}, "observation.eef_pose_rotvec": {"min": [0.4049992561340332, -0.015389153733849525, 0.18230405449867249, -3.138948678970337, -0.012132830917835236, -0.20616985857486725], "max": [0.5592743158340454, 0.0006971224211156368, 0.2634391188621521, 3.1390388011932373, 0.014811180531978607, 0.1887686550617218], "mean": [0.4998277723789215, -0.005454519297927618, 0.19891983270645142, 0.7440094947814941, -0.001903861528262496, -0.06875897198915482], "std": [0.06697720289230347, 0.007050001062452793, 0.018988696858286858, 3.04114031791687, 0.004476540256291628, 0.15701474249362946], "count": [239]}, "observation.eef_rotation_matrix": {"min": [0.9913360476493835, -0.009515789337456226, -0.1312936246395111, -0.009328647516667843, -1.0, -0.008340970613062382, -0.1312611699104309, -0.02163696102797985, -0.9993882179260254], "max": [0.999603807926178, 0.0054099056869745255, -0.027622781693935394, 0.006034074351191521, -0.9997513890266418, 0.021480027586221695, -0.02749990113079548, 0.008651608601212502, -0.991317629814148], "mean": [0.9940168857574463, -0.0015675632748752832, -0.1060694083571434, -0.0020251250825822353, -0.9999616742134094, -0.0025710908230394125, -0.10605360567569733, 0.002804333809763193, -0.9939899444580078], "std": [0.002398662967607379, 0.002419246593490243, 0.025796910747885704, 0.002668126253411174, 4.9913742259377614e-05, 0.007421466521918774, 0.025805462151765823, 0.007532225921750069, 0.0023872104939073324], "count": [239]}, "observation.gripper": {"min": [0.0], "max": [0.47733569145202637], "mean": [0.09138935804367065], "std": [0.18153849244117737], "count": [239]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909414492547512, 0.019094498828053474], "mean": [0.003655579872429371, 0.0036555675324052572], "std": [0.007261557970196009, 0.007261544466018677], "count": [239]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818685561418533], "mean": [0.007311149500310421], "std": [0.014523078687489033], "count": [239]}, "timestamp": {"min": [0.0], "max": [3.966666666666667], "mean": [1.9833333333333332], "std": [1.1498792207106894], "count": [239]}, "frame_index": {"min": [0], "max": [238], "mean": [119.0], "std": [68.99275324264136], "count": [239]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [239]}, "index": {"min": [5631], "max": [5869], "mean": [5750.0], "std": [68.99275324264136], "count": [239]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [239]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6289774319172113]], [[0.6025909694989107]], [[0.5742341094771242]]], "std": [[[0.18583669337204245]], [[0.19220465864432812]], [[0.2021938841087455]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9372549019607843]], [[0.9450980392156862]]], "mean": [[[0.5021060511982571]], [[0.47236932734204795]], [[0.4447658469498911]]], "std": [[[0.18229494808528104]], [[0.18431894445621477]], [[0.1883439792415446]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6705882352941176]], [[0.6862745098039216]], [[0.7725490196078432]]], "mean": [[[0.3325687969771242]], [[0.4074452124183006]], [[0.4807176695261438]]], "std": [[[0.14581022092260015]], [[0.1157247052127784]], [[0.15128529323813428]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7254901960784313]], [[0.6901960784313725]], [[0.796078431372549]]], "mean": [[[0.3285067973856209]], [[0.420081568627451]], [[0.4817531454248366]]], "std": [[[0.14303750776639426]], [[0.12296089336346347]], [[0.15464230251934954]]], "count": [100]}}}
+{"episode_index": 25, "stats": {"observation.state": {"min": [-0.010848058387637138, 0.0788874551653862, -0.007213819306343794, -2.6831700801849365, -0.013949400745332241, 2.5008339881896973, 0.7409999966621399, 4.8712669314943113e-11], "max": [0.030369851738214493, 0.355910062789917, 0.015688395127654076, -2.364651918411255, 0.03535445034503937, 2.9131102561950684, 0.835023820400238, 0.47733747959136963], "mean": [0.020793462172150612, 0.23896311223506927, -3.389937410247512e-05, -2.487675905227661, 0.0005506076267920434, 2.776357889175415, 0.805281400680542, 0.09646746516227722], "std": [0.009084022603929043, 0.09725209325551987, 0.006301408633589745, 0.14044064283370972, 0.011247027665376663, 0.09531204402446747, 0.0233470406383276, 0.18538431823253632], "count": [219]}, "observation.joint_position": {"min": [-0.010848058387637138, 0.0788874551653862, -0.007213819306343794, -2.6831700801849365, -0.013949400745332241, 2.5008339881896973, 0.7409999966621399], "max": [0.030369851738214493, 0.355910062789917, 0.015688395127654076, -2.364651918411255, 0.03535445034503937, 2.9131102561950684, 0.835023820400238], "mean": [0.020793462172150612, 0.23896311223506927, -3.389937410247512e-05, -2.487675905227661, 0.0005506076267920434, 2.776357889175415, 0.805281400680542], "std": [0.009084022603929043, 0.09725209325551987, 0.006301408633589745, 0.14044064283370972, 0.011247027665376663, 0.09531204402446747, 0.0233470406383276], "count": [219]}, "observation.eef_pose_quaternion": {"min": [0.41831380128860474, -0.0051223477348685265, 0.1805117130279541, 0.9988685846328735, -0.003079573856666684, -0.02242830954492092, -0.010781104676425457], "max": [0.5159711837768555, 0.01667458564043045, 0.2634425759315491, 0.9999518990516663, 0.012510079890489578, 0.047487422823905945, 0.00033806113060563803], "mean": [0.4768012464046478, 0.009531871415674686, 0.19959045946598053, 0.9996033906936646, 0.0004357439756859094, 0.024877676740288734, -0.0008913042256608605], "std": [0.04276754707098007, 0.005531561095267534, 0.020304329693317413, 0.00015266117407009006, 0.002480065217241645, 0.012695740908384323, 0.002348326612263918], "count": [219]}, "observation.eef_pose_rotvec": {"min": [0.41831380128860474, -0.0051223477348685265, 0.1805117130279541, -3.140376091003418, -0.03918790817260742, -0.12651418149471283], "max": [0.5159711837768555, 0.01667458564043045, 0.2634425759315491, 3.1404082775115967, 0.012583198957145214, 0.1491541564464569], "mean": [0.4768012464046478, 0.009531871415674686, 0.19959045946598053, -2.307023763656616, -0.0005132813239470124, -0.05096455290913582], "std": [0.04276754707098007, 0.005531561095267534, 0.020304329693317413, 2.1278927326202393, 0.007871138863265514, 0.07139476388692856], "count": [219]}, "observation.eef_rotation_matrix": {"min": [0.9954772591590881, -0.006152471527457237, -0.044988371431827545, -0.006160486023873091, -1.0, -0.0004346206260379404, -0.044694654643535614, -0.021637283265590668, -0.9999880790710449], "max": [0.9998193383216858, 0.024853883311152458, 0.09486909210681915, 0.025174278765916824, -0.9996397495269775, 0.021480342373251915, 0.09486570209264755, 0.0010082386434078217, -0.9954896569252014], "mean": [0.9984275102615356, 0.0008620831649750471, 0.049725789576768875, 0.0008804418030194938, -0.9999752640724182, 0.001759986625984311, 0.04974033311009407, -0.00180442922282964, -0.99842768907547], "std": [0.0006292841280810535, 0.004911020863801241, 0.025402743369340897, 0.005007374566048384, 7.555035699624568e-05, 0.004652499686926603, 0.025354798883199692, 0.004740783013403416, 0.0006229699356481433], "count": [219]}, "observation.gripper": {"min": [4.8712669314943113e-11], "max": [0.47733747959136963], "mean": [0.0964675098657608], "std": [0.18538431823253632], "count": [219]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909678243100643, 0.019095713272690773], "mean": [0.003858705749735236, 0.003858693642541766], "std": [0.007415371015667915, 0.007415365427732468], "count": [219]}, "observation.gripper_width_m": {"min": [3.897013354375867e-12], "max": [0.038186997175216675], "mean": [0.007717400789260864], "std": [0.01483074389398098], "count": [219]}, "timestamp": {"min": [0.0], "max": [3.6333333333333333], "mean": [1.8166666666666669], "std": [1.0536532566196457], "count": [219]}, "frame_index": {"min": [0], "max": [218], "mean": [109.0], "std": [63.219195397178744], "count": [219]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [219]}, "index": {"min": [5870], "max": [6088], "mean": [5979.0], "std": [63.219195397178744], "count": [219]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [219]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6251277287581699]], [[0.601026334422658]], [[0.5724527832244009]]], "std": [[[0.18802993677015187]], [[0.19294410570649395]], [[0.2015803433053375]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9490196078431372]], [[0.9568627450980393]]], "mean": [[[0.5031281835511983]], [[0.4724970397603486]], [[0.4436833033769063]]], "std": [[[0.18622418945062802]], [[0.18749467769810216]], [[0.1919812134501618]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7725490196078432]], [[0.6862745098039216]], [[0.7764705882352941]]], "mean": [[[0.3336926450163399]], [[0.4055519464869281]], [[0.4792283680555556]]], "std": [[[0.15021018942443903]], [[0.11581501831961279]], [[0.15066749092299936]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7568627450980392]], [[0.6941176470588235]], [[0.7490196078431373]]], "mean": [[[0.32757404411764707]], [[0.41631672998366015]], [[0.48074368668300654]]], "std": [[[0.14637906772767148]], [[0.12084847586887884]], [[0.15376089789066263]]], "count": [100]}}}
+{"episode_index": 26, "stats": {"observation.state": {"min": [-0.01651984639465809, 0.08160857111215591, -0.009305693209171295, -2.6378607749938965, -0.010631001554429531, 2.481856107711792, 0.7410000562667847, 1.089784859575893e-11], "max": [0.04372992739081383, 0.40968433022499084, 0.0007343427278101444, -2.2156033515930176, 0.03535439446568489, 2.7540087699890137, 0.8324217796325684, 0.47733747959136963], "mean": [0.021813280880451202, 0.2739975154399872, -0.0062455651350319386, -2.3805956840515137, -0.0030833277851343155, 2.599543333053589, 0.8043972253799438, 0.09210819751024246], "std": [0.023453885689377785, 0.12359379231929779, 0.00268152984790504, 0.18845658004283905, 0.011409416794776917, 0.09079031646251678, 0.029949119314551353, 0.1819574236869812], "count": [219]}, "observation.joint_position": {"min": [-0.01651984639465809, 0.08160857111215591, -0.009305693209171295, -2.6378607749938965, -0.010631001554429531, 2.481856107711792, 0.7410000562667847], "max": [0.04372992739081383, 0.40968433022499084, 0.0007343427278101444, -2.2156033515930176, 0.03535439446568489, 2.7540087699890137, 0.8324217796325684], "mean": [0.021813280880451202, 0.2739975154399872, -0.0062455651350319386, -2.3805956840515137, -0.0030833277851343155, 2.599543333053589, 0.8043972253799438], "std": [0.023453885689377785, 0.12359379231929779, 0.00268152984790504, 0.18845658004283905, 0.011409416794776917, 0.09079031646251678, 0.029949119314551353], "count": [219]}, "observation.eef_pose_quaternion": {"min": [0.42183157801628113, -0.01138386782258749, 0.18298178911209106, 0.9992497563362122, -0.007996643893420696, -0.038227904587984085, -0.010781154967844486], "max": [0.5454502701759338, 0.019304750487208366, 0.26344287395477295, 0.9998525977134705, 0.008281468413770199, -0.013484295457601547, 0.005919060669839382], "mean": [0.49711358547210693, 0.008792015723884106, 0.20152027904987335, 0.9995996356010437, -0.00026524244458414614, -0.027394000440835953, 0.0023730313405394554], "std": [0.05471425876021385, 0.011054073460400105, 0.020112281665205956, 0.00011130702478112653, 0.002281186869367957, 0.004610153380781412, 0.004266651812940836], "count": [219]}, "observation.eef_pose_rotvec": {"min": [0.42183157801628113, -0.01138386782258749, 0.18298178911209106, -3.140758991241455, -0.008860769681632519, -0.11965136229991913], "max": [0.5454502701759338, 0.019304750487208366, 0.26344287395477295, 3.1406824588775635, 0.02599501982331276, 0.10846976935863495], "mean": [0.49711358547210693, 0.008792015723884106, 0.20152027904987335, 1.7875702381134033, 0.00025577281485311687, -0.05491572991013527], "std": [0.05471425876021385, 0.011054073460400105, 0.020112281665205956, 2.572471857070923, 0.0071914223954081535, 0.0675448551774025], "count": [219]}, "observation.eef_rotation_matrix": {"min": [0.9970686435699463, -0.016237713396549225, -0.07642270624637604, -0.015742626041173935, -1.0, -0.01168265100568533, -0.07637419551610947, -0.021637393161654472, -0.9994150996208191], "max": [0.9996314644813538, 0.016632549464702606, -0.026997601613402367, 0.01647818088531494, -0.9997414946556091, 0.021480431780219078, -0.026931585744023323, 0.011976548470556736, -0.9970088601112366], "mean": [0.9984462261199951, -0.00036816089414060116, -0.054768115282058716, -0.0006922101601958275, -0.999942421913147, -0.004725837614387274, -0.054762065410614014, 0.004761076066643, -0.9984092712402344], "std": [0.0004539843648672104, 0.004535917658358812, 0.009217471815645695, 0.004594649653881788, 5.7962122809840366e-05, 0.008515210822224617, 0.00920560210943222, 0.008547189645469189, 0.0004503410600591451], "count": [219]}, "observation.gripper": {"min": [1.089784859575893e-11], "max": [0.47733747959136963], "mean": [0.09210829436779022], "std": [0.1819573938846588], "count": [219]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019096212461590767, 0.019096311181783676], "mean": [0.0036843151319772005, 0.0036843460984528065], "std": [0.007278274744749069, 0.007278298959136009], "count": [219]}, "observation.gripper_width_m": {"min": [8.718278919975231e-13], "max": [0.038186997175216675], "mean": [0.007368662394583225], "std": [0.014556590467691422], "count": [219]}, "timestamp": {"min": [0.0], "max": [3.6333333333333333], "mean": [1.8166666666666669], "std": [1.0536532566196457], "count": [219]}, "frame_index": {"min": [0], "max": [218], "mean": [109.0], "std": [63.219195397178744], "count": [219]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [219]}, "index": {"min": [6089], "max": [6307], "mean": [6198.0], "std": [63.219195397178744], "count": [219]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [219]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6279637309368191]], [[0.6032183741830065]], [[0.5746498774509804]]], "std": [[[0.1847287315433824]], [[0.1911735517805067]], [[0.20111128345247967]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9450980392156862]], [[0.9647058823529412]]], "mean": [[[0.5017785784313725]], [[0.47336522058823527]], [[0.44497044934640523]]], "std": [[[0.18259512133417855]], [[0.18452457291660665]], [[0.18873943342348537]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6666666666666666]], [[0.6862745098039216]], [[0.7686274509803922]]], "mean": [[[0.33263406250000005]], [[0.407838112745098]], [[0.4807215012254902]]], "std": [[[0.14630044044585228]], [[0.11614444426509275]], [[0.15128941737395538]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6784313725490196]], [[0.6980392156862745]], [[0.792156862745098]]], "mean": [[[0.32837073325163396]], [[0.4203191217320261]], [[0.482115095996732]]], "std": [[[0.1436758891703424]], [[0.12277325032538497]], [[0.15436180549582224]]], "count": [100]}}}
+{"episode_index": 27, "stats": {"observation.state": {"min": [-0.06850350648164749, 0.05242016538977623, -0.014170031063258648, -2.7605297565460205, 0.007236271630972624, 2.5008130073547363, 0.6943938732147217, 3.01905965505167e-11], "max": [-0.010807293467223644, 0.3889337182044983, 0.0037990824785083532, -2.3071320056915283, 0.03535616025328636, 2.972059726715088, 0.7547416090965271, 0.47733643651008606], "mean": [-0.03388171270489693, 0.24540336430072784, -0.005093134008347988, -2.4804680347442627, 0.017297908663749695, 2.774832248687744, 0.7312708497047424, 0.10070747882127762], "std": [0.02382843568921089, 0.12229069322347641, 0.006522875279188156, 0.19775424897670746, 0.007657549809664488, 0.12855151295661926, 0.02393985167145729, 0.18870145082473755], "count": [224]}, "observation.joint_position": {"min": [-0.06850350648164749, 0.05242016538977623, -0.014170031063258648, -2.7605297565460205, 0.007236271630972624, 2.5008130073547363, 0.6943938732147217], "max": [-0.010807293467223644, 0.3889337182044983, 0.0037990824785083532, -2.3071320056915283, 0.03535616025328636, 2.972059726715088, 0.7547416090965271], "mean": [-0.03388171270489693, 0.24540336430072784, -0.005093134008347988, -2.4804680347442627, 0.017297908663749695, 2.774832248687744, 0.7312708497047424], "std": [0.02382843568921089, 0.12229069322347641, 0.006522875279188156, 0.19775424897670746, 0.007657549809664488, 0.12855151295661926, 0.02393985167145729], "count": [224]}, "observation.eef_pose_quaternion": {"min": [0.39286428689956665, -0.02797519415616989, 0.17991842329502106, 0.9991769790649414, -0.0018741304520517588, -0.013821862637996674, -0.010781977325677872], "max": [0.5291697382926941, -0.005121584516018629, 0.26344990730285645, 0.9999801516532898, 0.0028445557691156864, 0.04056251421570778, 0.0007323697791434824], "mean": [0.47755903005599976, -0.018489371985197067, 0.19867126643657684, 0.9996099472045898, -0.00022455331054516137, 0.024555101990699768, -0.000820324697997421], "std": [0.05910696089267731, 0.006600128952413797, 0.02107354812324047, 0.0002534034720156342, 0.0008339988999068737, 0.012983516789972782, 0.0025401748716831207], "count": [224]}, "observation.eef_pose_rotvec": {"min": [0.39286428689956665, -0.02797519415616989, 0.17991842329502106, -3.140801429748535, -0.008875676430761814, -0.1250036209821701], "max": [0.5291697382926941, -0.005121584516018629, 0.26344990730285645, 3.140800714492798, 0.0058785127475857735, 0.12742064893245697], "mean": [0.47755903005599976, -0.018489371985197067, 0.19867126643657684, -0.9234547019004822, 2.1713069145334885e-05, -0.026520054787397385], "std": [0.05910696089267731, 0.006600128952413797, 0.02107354812324047, 2.9995298385620117, 0.0027030089404433966, 0.08311155438423157], "count": [224]}, "observation.eef_rotation_matrix": {"min": [0.9967092871665955, -0.0036531821824610233, -0.027700593695044518, -0.0038450644351541996, -1.0, -0.0014965912560001016, -0.027578139677643776, -0.02163904905319214, -0.9999220371246338], "max": [0.9999936819076538, 0.005392907653003931, 0.08105820417404175, 0.005983540788292885, -0.9997513890266418, 0.021482063457369804, 0.0810583084821701, 0.0014325262745842338, -0.9967093467712402], "mean": [0.9984555840492249, -0.0004551004967652261, 0.04908293858170509, -0.0004426652449183166, -0.9999844431877136, 0.0016176190692931414, 0.049088139086961746, -0.0016630252357572317, -0.9984428286552429], "std": [0.0010282687144353986, 0.00160509767010808, 0.02595618925988674, 0.0017307595117017627, 5.3353280236478895e-05, 0.005066983867436647, 0.025938497856259346, 0.005092481151223183, 0.0010138809448108077], "count": [224]}, "observation.gripper": {"min": [3.01905965505167e-11], "max": [0.47733643651008606], "mean": [0.10070759803056717], "std": [0.1887015998363495], "count": [224]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019095422700047493, 0.019095201045274734], "mean": [0.0040283203125, 0.00402828399091959], "std": [0.007548081688582897, 0.007548053283244371], "count": [224]}, "observation.gripper_width_m": {"min": [2.4152476893468666e-12], "max": [0.03818691521883011], "mean": [0.008056608960032463], "std": [0.015096127055585384], "count": [224]}, "timestamp": {"min": [0.0], "max": [3.716666666666667], "mean": [1.8583333333333332], "std": [1.0777097630314636], "count": [224]}, "frame_index": {"min": [0], "max": [223], "mean": [111.5], "std": [64.66258578188781], "count": [224]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [224]}, "index": {"min": [6308], "max": [6531], "mean": [6419.5], "std": [64.66258578188781], "count": [224]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [224]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6281282107843138]], [[0.6019276906318083]], [[0.573641519607843]]], "std": [[[0.18656272221317266]], [[0.19267757599635119]], [[0.20239465289490668]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9450980392156862]], [[0.9647058823529412]]], "mean": [[[0.5030303867102396]], [[0.4757719635076253]], [[0.4468163779956427]]], "std": [[[0.1836061067649806]], [[0.18640326092991388]], [[0.19077937923649668]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7764705882352941]], [[0.6941176470588235]], [[0.7725490196078432]]], "mean": [[[0.33349738970588233]], [[0.4053728288398693]], [[0.48021910539215684]]], "std": [[[0.15002213610694942]], [[0.11528515640911446]], [[0.1502668259140052]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7607843137254902]], [[0.6941176470588235]], [[0.7686274509803922]]], "mean": [[[0.3277743729575164]], [[0.4171328084150327]], [[0.4817400020424837]]], "std": [[[0.14548691515901763]], [[0.12149176654935134]], [[0.1533665237652446]]], "count": [100]}}}
+{"episode_index": 28, "stats": {"observation.state": {"min": [-0.010810812003910542, 0.039020366966724396, -0.009563196450471878, -2.669370651245117, -0.00019573197641875595, 2.442289352416992, 0.7409999966621399, 1.0570242597873758e-11], "max": [0.01962643302977085, 0.43809905648231506, 0.003950722981244326, -2.1576976776123047, 0.03535451367497444, 2.731858015060425, 0.7932974696159363, 0.4773358106613159], "mean": [0.011098586022853851, 0.28357845544815063, -0.004148159641772509, -2.3500776290893555, 0.007262093480676413, 2.540550947189331, 0.7862743735313416, 0.08031013607978821], "std": [0.009599645622074604, 0.14441299438476562, 0.005237224046140909, 0.22091129422187805, 0.007407952565699816, 0.10649621486663818, 0.011028414592146873, 0.17306895554065704], "count": [269]}, "observation.joint_position": {"min": [-0.010810812003910542, 0.039020366966724396, -0.009563196450471878, -2.669370651245117, -0.00019573197641875595, 2.442289352416992, 0.7409999966621399], "max": [0.01962643302977085, 0.43809905648231506, 0.003950722981244326, -2.1576976776123047, 0.03535451367497444, 2.731858015060425, 0.7932974696159363], "mean": [0.011098586022853851, 0.28357845544815063, -0.004148159641772509, -2.3500776290893555, 0.007262093480676413, 2.540550947189331, 0.7862743735313416], "std": [0.009599645622074604, 0.14441299438476562, 0.005237224046140909, 0.22091129422187805, 0.007407952565699816, 0.10649621486663818, 0.011028414592146873], "count": [269]}, "observation.eef_pose_quaternion": {"min": [0.40826913714408875, -0.005122215487062931, 0.18145710229873657, 0.9982350468635559, -0.0035550047177821398, -0.05938553810119629, -0.010781134478747845], "max": [0.5544788837432861, 0.00648558558896184, 0.2634356617927551, 0.9999350905418396, 0.002864967565983534, -0.011132489889860153, 0.0001402761263307184], "mean": [0.501202404499054, 0.003618394024670124, 0.20173346996307373, 0.9988142251968384, 0.000202221839572303, -0.046512603759765625, -0.0009057277929969132], "std": [0.06265662610530853, 0.002814122010022402, 0.021025925874710083, 0.0005563921295106411, 0.0010859488975256681, 0.014054719358682632, 0.002355403732508421], "count": [269]}, "observation.eef_pose_rotvec": {"min": [0.40826913714408875, -0.005122215487062931, 0.18145710229873657, -3.139808416366577, -0.008941974490880966, -0.18655042350292206], "max": [0.5544788837432861, 0.00648558558896184, 0.2634356617927551, 3.139373540878296, 0.011164010502398014, 0.18537181615829468], "mean": [0.501202404499054, 0.003618394024670124, 0.20173346996307373, -0.22062940895557404, 9.804876754060388e-05, -0.009421486407518387], "std": [0.06265662610530853, 0.002814122010022402, 0.021025925874710083, 3.128136157989502, 0.0034592647571116686, 0.15230517089366913], "count": [269]}, "observation.eef_rotation_matrix": {"min": [0.9929465055465698, -0.007131567690521479, -0.11856137961149216, -0.007085905410349369, -1.0, -0.00031852186657488346, -0.1185615286231041, -0.02163737453520298, -0.9997501373291016], "max": [0.9997426867485046, 0.005442386493086815, -0.02225916087627411, 0.006015721708536148, -0.9997513890266418, 0.021480364724993706, -0.022267915308475494, 0.0002416020433884114, -0.9929466843605042], "mean": [0.9952760338783264, 0.0003517100412864238, -0.09290312975645065, 0.0004556302446871996, -0.9999852776527405, 0.0017845851834863424, -0.09289615601301193, -0.0018361927941441536, -0.9952656626701355], "std": [0.002242292743176222, 0.002103020204231143, 0.028032749891281128, 0.0022429833188652992, 5.029316162108444e-05, 0.004682703409343958, 0.028043465688824654, 0.004736351780593395, 0.0022263824939727783], "count": [269]}, "observation.gripper": {"min": [1.0570242597873758e-11], "max": [0.4773358106613159], "mean": [0.08031020313501358], "std": [0.17306892573833466], "count": [269]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019093940034508705, 0.01909429021179676], "mean": [0.003212410258129239, 0.0032124046701937914], "std": [0.006922775413841009, 0.006922766100615263], "count": [269]}, "observation.gripper_width_m": {"min": [8.456193644618137e-13], "max": [0.03818686306476593], "mean": [0.00642481679096818], "std": [0.013845511712133884], "count": [269]}, "timestamp": {"min": [0.0], "max": [4.466666666666667], "mean": [2.2333333333333334], "std": [1.2942179105544787], "count": [269]}, "frame_index": {"min": [0], "max": [268], "mean": [134.0], "std": [77.6530746332687], "count": [269]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [269]}, "index": {"min": [6532], "max": [6800], "mean": [6666.0], "std": [77.6530746332687], "count": [269]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [269]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6284141312636166]], [[0.6028814379084968]], [[0.5744202614379086]]], "std": [[[0.18596264601885965]], [[0.1921570639877248]], [[0.20211247616808822]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9529411764705882]], [[0.9450980392156862]], [[0.9568627450980393]]], "mean": [[[0.5030539488017429]], [[0.4720405310457516]], [[0.44409789760348584]]], "std": [[[0.180799976937623]], [[0.18404654211951305]], [[0.18791342083588072]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7058823529411765]], [[0.6823529411764706]], [[0.792156862745098]]], "mean": [[[0.33179420751633987]], [[0.4056149795751634]], [[0.48071859681372553]]], "std": [[[0.14603788073089333]], [[0.11517145039185586]], [[0.152023988801248]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7529411764705882]], [[0.6901960784313725]], [[0.792156862745098]]], "mean": [[[0.3284528329248366]], [[0.4183651940359477]], [[0.47994130310457517]]], "std": [[[0.14416145467641403]], [[0.1222804430690178]], [[0.15446967614773477]]], "count": [100]}}}
+{"episode_index": 29, "stats": {"observation.state": {"min": [-0.0343487448990345, 0.042258910834789276, 0.0007344810874201357, -2.754702568054199, -0.022004976868629456, 2.500828504562378, 0.7409999966621399, 1.617117273422508e-10], "max": [-0.010808608494699001, 0.3724944591522217, 0.04661693051457405, -2.325032949447632, 0.0353560708463192, 2.8819286823272705, 0.8160976767539978, 0.47733622789382935], "mean": [-0.022669516503810883, 0.22565172612667084, 0.027127714827656746, -2.4963128566741943, -0.012285160832107067, 2.7340011596679688, 0.8006823062896729, 0.10300514101982117], "std": [0.007768037263303995, 0.12103556841611862, 0.013152995146811008, 0.19153046607971191, 0.013508807867765427, 0.09907166659832001, 0.01650291495025158, 0.19022218883037567], "count": [219]}, "observation.joint_position": {"min": [-0.0343487448990345, 0.042258910834789276, 0.0007344810874201357, -2.754702568054199, -0.022004976868629456, 2.500828504562378, 0.7409999966621399], "max": [-0.010808608494699001, 0.3724944591522217, 0.04661693051457405, -2.325032949447632, 0.0353560708463192, 2.8819286823272705, 0.8160976767539978], "mean": [-0.022669516503810883, 0.22565172612667084, 0.027127714827656746, -2.4963128566741943, -0.012285160832107067, 2.7340011596679688, 0.8006823062896729], "std": [0.007768037263303995, 0.12103556841611862, 0.013152995146811008, 0.19153046607971191, 0.013508807867765427, 0.09907166659832001, 0.01650291495025158], "count": [219]}, "observation.eef_pose_quaternion": {"min": [0.39131611585617065, -0.005122231785207987, 0.18086734414100647, 0.999670147895813, -0.0011480029206722975, -0.024179380387067795, -0.010781724005937576], "max": [0.5228871703147888, 0.00642806850373745, 0.2634449899196625, 0.9999993443489075, 0.005521588027477264, 0.025525080040097237, 0.000656111806165427], "mean": [0.46992385387420654, 0.00278744800016284, 0.19903258979320526, 0.9999315142631531, -1.3075700735498685e-05, 0.006090215872973204, -0.000499111891258508], "std": [0.05925052613019943, 0.0027613183483481407, 0.02083638310432434, 6.985462823649868e-05, 0.0015857330290600657, 0.00963587500154972, 0.002575349062681198], "count": [219]}, "observation.eef_pose_rotvec": {"min": [0.39131611585617065, -0.005122231785207987, 0.18086734414100647, -3.1415627002716064, -0.01734103448688984, -0.07617508620023727], "max": [0.5228871703147888, 0.00642806850373745, 0.2634449899196625, 3.141561985015869, 0.008806007914245129, 0.08018776774406433], "mean": [0.46992385387420654, 0.00278744800016284, 0.19903258979320526, 1.1055235862731934, -0.0028474577702581882, 0.024607321247458458], "std": [0.05925052613019943, 0.0027613183483481407, 0.02083638310432434, 2.938209295272827, 0.004080642946064472, 0.025960540398955345], "count": [219]}, "observation.eef_rotation_matrix": {"min": [0.9986812472343445, -0.0024177543818950653, -0.048338621854782104, -0.0022560046054422855, -1.0, -0.0013286445755511522, -0.048350248485803604, -0.02163851633667946, -0.9999999403953552], "max": [0.999997615814209, 0.011045606806874275, 0.05103351175785065, 0.011040330864489079, -0.9997513890266418, 0.021481584757566452, 0.051033150404691696, 0.0012965449132025242, -0.9986969232559204], "mean": [0.9997346997261047, -5.615008558379486e-05, 0.012176580727100372, 3.8027196751500014e-06, -0.9999825954437256, 0.000989598804153502, 0.01218334212899208, -0.0010063707595691085, -0.9997259974479675], "std": [0.0002637402794789523, 0.0031542067881673574, 0.01927332393825054, 0.0031898312736302614, 5.292688001645729e-05, 0.005140773020684719, 0.019263271242380142, 0.0051591601222753525, 0.0002783096279017627], "count": [219]}, "observation.gripper": {"min": [1.617117273422508e-10], "max": [0.47733622789382935], "mean": [0.10300521552562714], "std": [0.1902220994234085], "count": [219]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094405695796013, 0.019094618037343025], "mean": [0.0041202036663889885, 0.004120212979614735], "std": [0.007608890067785978, 0.007608884014189243], "count": [219]}, "observation.gripper_width_m": {"min": [1.2936937979213248e-11], "max": [0.038186896592378616], "mean": [0.008240416646003723], "std": [0.015217769891023636], "count": [219]}, "timestamp": {"min": [0.0], "max": [3.6333333333333333], "mean": [1.8166666666666669], "std": [1.0536532566196457], "count": [219]}, "frame_index": {"min": [0], "max": [218], "mean": [109.0], "std": [63.219195397178744], "count": [219]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [219]}, "index": {"min": [6801], "max": [7019], "mean": [6910.0], "std": [63.219195397178744], "count": [219]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [219]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6276455337690632]], [[0.6003782434640523]], [[0.5711778349673203]]], "std": [[[0.1842241367753164]], [[0.19210185322261816]], [[0.20089366845445542]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9372549019607843]], [[0.9529411764705882]]], "mean": [[[0.49993802287581696]], [[0.4748554438997821]], [[0.44645391612200436]]], "std": [[[0.18387599705332128]], [[0.18566715647062226]], [[0.1899906203735441]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7333333333333333]], [[0.6823529411764706]], [[0.7647058823529411]]], "mean": [[[0.3340914869281046]], [[0.4059860130718954]], [[0.4787895935457516]]], "std": [[[0.14990018609094066]], [[0.11600379905603678]], [[0.15084615404245494]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7568627450980392]], [[0.6941176470588235]], [[0.7607843137254902]]], "mean": [[[0.3268828880718954]], [[0.4168147487745098]], [[0.4810566217320261]]], "std": [[[0.1455446978305099]], [[0.12083246784054892]], [[0.15428344060672972]]], "count": [100]}}}
+{"episode_index": 30, "stats": {"observation.state": {"min": [-0.011689907871186733, -0.028397180140018463, -0.003040469251573086, -2.803213119506836, -0.021159730851650238, 2.50079607963562, 0.7409950494766235, 0.0], "max": [0.05966345593333244, 0.39221447706222534, 0.012655633501708508, -2.272163152694702, 0.03535878285765648, 2.9347054958343506, 0.8634606003761292, 0.4773370623588562], "mean": [0.0304530281573534, 0.22253403067588806, 0.003861165838316083, -2.4856984615325928, -0.009024174883961678, 2.7277791500091553, 0.829588770866394, 0.09964019060134888], "std": [0.02832688018679619, 0.1458243578672409, 0.006482033059000969, 0.23217687010765076, 0.013839817605912685, 0.13126857578754425, 0.03471620753407478, 0.18751858174800873], "count": [224]}, "observation.joint_position": {"min": [-0.011689907871186733, -0.028397180140018463, -0.003040469251573086, -2.803213119506836, -0.021159730851650238, 2.50079607963562, 0.7409950494766235], "max": [0.05966345593333244, 0.39221447706222534, 0.012655633501708508, -2.272163152694702, 0.03535878285765648, 2.9347054958343506, 0.8634606003761292], "mean": [0.0304530281573534, 0.22253403067588806, 0.003861165838316083, -2.4856984615325928, -0.009024174883961678, 2.7277791500091553, 0.829588770866394], "std": [0.02832688018679619, 0.1458243578672409, 0.006482033059000969, 0.23217687010765076, 0.013839817605912685, 0.13126857578754425, 0.03471620753407478], "count": [224]}, "observation.eef_pose_quaternion": {"min": [0.3778812885284424, -0.006009618751704693, 0.18292099237442017, 0.9996788501739502, -0.003977141808718443, -0.013824972324073315, -0.010783327743411064], "max": [0.5359826683998108, 0.03088652342557907, 0.2634534239768982, 0.9999936819076538, 0.0028411629609763622, 0.025334171950817108, 0.005093993619084358], "mean": [0.47283005714416504, 0.01795102097094059, 0.20291633903980255, 0.9998882412910461, -0.0008040376123972237, 0.00994032435119152, 0.0014683781191706657], "std": [0.06861843913793564, 0.013135988265275955, 0.021770305931568146, 0.00010204760474152863, 0.001185905421152711, 0.010102909989655018, 0.00384856341406703], "count": [224]}, "observation.eef_pose_rotvec": {"min": [0.3778812885284424, -0.006009618751704693, 0.18292099237442017, -3.1410939693450928, -0.00916269887238741, -0.07715896517038345], "max": [0.5359826683998108, 0.03088652342557907, 0.2634534239768982, 3.1411242485046387, 0.012487624771893024, 0.07958933711051941], "mean": [0.47283005714416504, 0.01795102097094059, 0.20291633903980255, 0.6984301209449768, -0.0014367903349921107, -0.001462584245018661], "std": [0.06861843913793564, 0.013135988265275955, 0.021770305931568146, 3.0564701557159424, 0.004253836814314127, 0.04447663575410843], "count": [224]}, "observation.eef_rotation_matrix": {"min": [0.9987157583236694, -0.007925701327621937, -0.027706848457455635, -0.00798075646162033, -1.0, -0.01019925344735384, -0.027584319934248924, -0.02164180390536785, -0.9999789595603943], "max": [0.999995231628418, 0.005383303854614496, 0.05065208300948143, 0.0059795561246573925, -0.9997512698173523, 0.021484704688191414, 0.050652068108320236, 0.010176248848438263, -0.9987163543701172], "mean": [0.9995940327644348, -0.0016450161347165704, 0.01987077295780182, -0.0015709426952525973, -0.9999604821205139, -0.002953667426481843, 0.019883066415786743, 0.0029200005810707808, -0.9995644688606262], "std": [0.0004247887700330466, 0.002347879344597459, 0.020206812769174576, 0.002396619413048029, 5.16479485668242e-05, 0.007690368685871363, 0.020194903016090393, 0.007702762261033058, 0.00040856131818145514], "count": [224]}, "observation.gripper": {"min": [0.0], "max": [0.4773370623588562], "mean": [0.09964033216238022], "std": [0.18751846253871918], "count": [224]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019095247611403465, 0.019095025956630707], "mean": [0.003985603805631399, 0.003985618706792593], "std": [0.007500712759792805, 0.0075007593259215355], "count": [224]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818696364760399], "mean": [0.00797122623771429], "std": [0.015001476742327213], "count": [224]}, "timestamp": {"min": [0.0], "max": [3.716666666666667], "mean": [1.8583333333333332], "std": [1.0777097630314636], "count": [224]}, "frame_index": {"min": [0], "max": [223], "mean": [111.5], "std": [64.66258578188781], "count": [224]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [224]}, "index": {"min": [7020], "max": [7243], "mean": [7131.5], "std": [64.66258578188781], "count": [224]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [224]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6297237472766885]], [[0.6044759831154684]], [[0.5751922167755992]]], "std": [[[0.18053931817431396]], [[0.18837913303096832]], [[0.19752513770626748]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9764705882352941]], [[0.9372549019607843]], [[0.9450980392156862]]], "mean": [[[0.5001565767973857]], [[0.4761216094771242]], [[0.44762433823529413]]], "std": [[[0.18331594538466006]], [[0.18499628691953832]], [[0.18944855227079735]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7372549019607844]], [[0.6862745098039216]], [[0.7411764705882353]]], "mean": [[[0.3325904330065359]], [[0.4079889031862745]], [[0.48153593954248364]]], "std": [[[0.14750780503457445]], [[0.1160392205273686]], [[0.150283103953321]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7529411764705882]], [[0.6901960784313725]], [[0.7490196078431373]]], "mean": [[[0.32968445261437906]], [[0.4190132781862745]], [[0.4817526123366013]]], "std": [[[0.14462144470389096]], [[0.12256584101205174]], [[0.1529740652075276]]], "count": [100]}}}
+{"episode_index": 31, "stats": {"observation.state": {"min": [-0.010828504338860512, 0.09536575525999069, -0.007590312510728836, -2.7150614261627197, -0.02121151052415371, 2.500833511352539, 0.7409999966621399, 7.541880314709815e-11], "max": [0.03705402463674545, 0.3118492662906647, 0.01371909398585558, -2.433037281036377, 0.0353553369641304, 2.936736822128296, 0.8506337404251099, 0.4773379862308502], "mean": [0.019567852839827538, 0.2134082019329071, 0.0009225787944160402, -2.544710397720337, -0.0047085825353860855, 2.798729658126831, 0.8106715083122253, 0.10287466645240784], "std": [0.013045977801084518, 0.07713022828102112, 0.007531468756496906, 0.12148046493530273, 0.013511916622519493, 0.10419566929340363, 0.02960878424346447, 0.1898595541715622], "count": [210]}, "observation.joint_position": {"min": [-0.010828504338860512, 0.09536575525999069, -0.007590312510728836, -2.7150614261627197, -0.02121151052415371, 2.500833511352539, 0.7409999966621399], "max": [0.03705402463674545, 0.3118492662906647, 0.01371909398585558, -2.433037281036377, 0.0353553369641304, 2.936736822128296, 0.8506337404251099], "mean": [0.019567852839827538, 0.2134082019329071, 0.0009225787944160402, -2.544710397720337, -0.0047085825353860855, 2.798729658126831, 0.8106715083122253], "std": [0.013045977801084518, 0.07713022828102112, 0.007531468756496906, 0.12148046493530273, 0.013511916622519493, 0.10419566929340363, 0.02960878424346447], "count": [210]}, "observation.eef_pose_quaternion": {"min": [0.40684622526168823, -0.005122228525578976, 0.178911492228508, 0.9994940757751465, -0.0034278985112905502, -0.014460882171988487, -0.0107814259827137], "max": [0.49145418405532837, 0.021053560078144073, 0.2634439766407013, 0.9999862313270569, 0.005939442198723555, 0.03180394321680069, 0.0012732568429782987], "mean": [0.45854121446609497, 0.009114913642406464, 0.1961105316877365, 0.9997302293777466, 7.631430344190449e-05, 0.020342160016298294, -0.00025036378065124154], "std": [0.03681207820773125, 0.008412513881921768, 0.020194951444864273, 0.00012302117829676718, 0.0013483141083270311, 0.010773747228085995, 0.002747190184891224], "count": [210]}, "observation.eef_pose_rotvec": {"min": [0.40684622526168823, -0.005122228525578976, 0.178911492228508, -3.1403305530548096, -0.008859911933541298, -0.0999092161655426], "max": [0.49145418405532837, 0.021053560078144073, 0.2634439766407013, 3.140462875366211, 0.018650999292731285, 0.09715966880321503], "mean": [0.45854121446609497, 0.009114913642406464, 0.1961105316877365, 2.1840052604675293, -0.00022581376833841205, 0.05908498167991638], "std": [0.03681207820773125, 0.008412513881921768, 0.020194951444864273, 2.2534241676330566, 0.004228188190609217, 0.04164184257388115], "count": [210]}, "observation.eef_rotation_matrix": {"min": [0.9979770183563232, -0.006894185207784176, -0.028904106467962265, -0.006817059591412544, -1.0, -0.0025829910300672054, -0.028931207954883575, -0.021637922152876854, -0.999963641166687], "max": [0.9999758005142212, 0.011835743673145771, 0.06357570737600327, 0.011912640184164047, -0.9997513890266418, 0.0214809849858284, 0.06357571482658386, 0.002549172844737768, -0.9979770183563232], "mean": [0.9989371299743652, 0.00011349943815730512, 0.040669504553079605, 0.00019142137898597866, -0.9999821186065674, 0.0005047852755524218, 0.04067344218492508, -0.0004966962733305991, -0.9989253282546997], "std": [0.0005093396175652742, 0.002677939599379897, 0.021545784547924995, 0.0027153976261615753, 5.45367511222139e-05, 0.005483234766870737, 0.021533112972974777, 0.005504519212990999, 0.0004920251085422933], "count": [210]}, "observation.gripper": {"min": [7.541880314709815e-11], "max": [0.4773379862308502], "mean": [0.10287471860647202], "std": [0.18985939025878906], "count": [210]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019095253199338913, 0.01909632794559002], "mean": [0.004114984069019556, 0.004114991053938866], "std": [0.0075943502597510815, 0.00759441452100873], "count": [210]}, "observation.gripper_width_m": {"min": [6.03350399155933e-12], "max": [0.03818703815340996], "mean": [0.008229977451264858], "std": [0.015188750810921192], "count": [210]}, "timestamp": {"min": [0.0], "max": [3.4833333333333334], "mean": [1.7416666666666667], "std": [1.0103515156544207], "count": [210]}, "frame_index": {"min": [0], "max": [209], "mean": [104.5], "std": [60.621090939265244], "count": [210]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [210]}, "index": {"min": [7244], "max": [7453], "mean": [7348.5], "std": [60.621090939265244], "count": [210]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [210]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6204013371459696]], [[0.5998151089324618]], [[0.5699501470588235]]], "std": [[[0.1853514654229692]], [[0.18997754119118374]], [[0.19804414512843613]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9372549019607843]], [[0.9411764705882353]]], "mean": [[[0.5055763017429193]], [[0.46734149237472766]], [[0.4392098937908497]]], "std": [[[0.19051483826383617]], [[0.19055141013027518]], [[0.19512156003478048]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.792156862745098]], [[0.6901960784313725]], [[0.7764705882352941]]], "mean": [[[0.3320869607843137]], [[0.40759069444444446]], [[0.48116123366013075]]], "std": [[[0.14892334049634356]], [[0.11578309147208035]], [[0.15076210179328875]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7529411764705882]], [[0.6941176470588235]], [[0.7490196078431373]]], "mean": [[[0.3282393484477124]], [[0.41908966911764706]], [[0.4815504881535948]]], "std": [[[0.14602470395103787]], [[0.12159481842082819]], [[0.15359178618437194]]], "count": [100]}}}
+{"episode_index": 32, "stats": {"observation.state": {"min": [-0.03460656479001045, 0.07405851781368256, -0.013921719044446945, -2.7378575801849365, -0.0133669413626194, 2.500826597213745, 0.7409985065460205, 1.757101408816908e-11], "max": [0.04115356504917145, 0.38037219643592834, 0.00832305196672678, -2.3176214694976807, 0.035354968160390854, 3.0129079818725586, 0.8275991082191467, 0.4773355722427368], "mean": [0.008949781768023968, 0.2505919933319092, -0.004071483388543129, -2.477322578430176, 0.0011808477574959397, 2.8082427978515625, 0.7900788187980652, 0.1033000573515892], "std": [0.03391381353139877, 0.11250388622283936, 0.009540082886815071, 0.18348905444145203, 0.01495970506221056, 0.13546063005924225, 0.03864714503288269, 0.19054140150547028], "count": [223]}, "observation.joint_position": {"min": [-0.03460656479001045, 0.07405851781368256, -0.013921719044446945, -2.7378575801849365, -0.0133669413626194, 2.500826597213745, 0.7409985065460205], "max": [0.04115356504917145, 0.38037219643592834, 0.00832305196672678, -2.3176214694976807, 0.035354968160390854, 3.0129079818725586, 0.8275991082191467], "mean": [0.008949781768023968, 0.2505919933319092, -0.004071483388543129, -2.477322578430176, 0.0011808477574959397, 2.8082427978515625, 0.7900788187980652], "std": [0.03391381353139877, 0.11250388622283936, 0.009540082886815071, 0.18348905444145203, 0.01495970506221056, 0.13546063005924225, 0.03864714503288269], "count": [223]}, "observation.eef_pose_quaternion": {"min": [0.4055100679397583, -0.011812137439846992, 0.18211545050144196, 0.9980215430259705, -0.0011481966357678175, -0.013819213025271893, -0.010781616903841496], "max": [0.5303542017936707, 0.015655577182769775, 0.26344606280326843, 0.9999772906303406, 0.002840254921466112, 0.0628703162074089, 0.003922058269381523], "mean": [0.4820549786090851, 0.0034836246632039547, 0.20062389969825745, 0.9990177154541016, -0.00027239753399044275, 0.040251608937978745, 0.0009959456510841846], "std": [0.05394309386610985, 0.012191697023808956, 0.020271219313144684, 0.0005837948410771787, 0.0008376675541512668, 0.018103791400790215, 0.0035680606961250305], "count": [223]}, "observation.eef_pose_rotvec": {"min": [0.4055100679397583, -0.011812137439846992, 0.18211545050144196, -3.1370294094085693, -0.00886224303394556, -0.19468553364276886], "max": [0.5303542017936707, 0.015655577182769775, 0.26344606280326843, 3.13744854927063, 0.0036067026667296886, 0.19750343263149261], "mean": [0.4820549786090851, 0.0034836246632039547, 0.20062389969825745, 0.6602703332901001, -0.0013150706654414535, 0.019166691228747368], "std": [0.05394309386610985, 0.012191697023808956, 0.020271219313144684, 3.062765598297119, 0.0024213867727667093, 0.13720230758190155], "count": [223]}, "observation.eef_rotation_matrix": {"min": [0.9920946359634399, -0.0022712075151503086, -0.027695307508111, -0.002314863260835409, -1.0, -0.007899535819888115, -0.027572831138968468, -0.021638326346874237, -0.9999094605445862], "max": [0.9999955892562866, 0.005384337157011032, 0.1254919171333313, 0.005977562628686428, -0.9997513890266418, 0.02148134633898735, 0.12549187242984772, 0.0077789900824427605, -0.9920946359634399], "mean": [0.9961028695106506, -0.0006756414077244699, 0.08039970695972443, -0.0004128435393795371, -0.9999715089797974, -0.002024605870246887, 0.08041099458932877, 0.0019554966129362583, -0.9960767030715942], "std": [0.002361286897212267, 0.001700555789284408, 0.03614736720919609, 0.0016610085731372237, 5.1704144425457343e-05, 0.0071388715878129005, 0.03612812981009483, 0.007128783501684666, 0.002333960263058543], "count": [223]}, "observation.gripper": {"min": [1.757101408816908e-11], "max": [0.4773355722427368], "mean": [0.10330009460449219], "std": [0.19054152071475983], "count": [223]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019093908369541168, 0.01909407414495945], "mean": [0.004132007714360952, 0.004131997004151344], "std": [0.007621673867106438, 0.0076216403394937515], "count": [223]}, "observation.gripper_width_m": {"min": [1.4056811270535263e-12], "max": [0.03818684443831444], "mean": [0.008264007046818733], "std": [0.015243319794535637], "count": [223]}, "timestamp": {"min": [0.0], "max": [3.7], "mean": [1.85], "std": [1.0728984626287388], "count": [223]}, "frame_index": {"min": [0], "max": [222], "mean": [111.0], "std": [64.37390775772433], "count": [223]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [223]}, "index": {"min": [7454], "max": [7676], "mean": [7565.0], "std": [64.37390775772433], "count": [223]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [223]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.628189915577342]], [[0.6034472412854031]], [[0.5750444090413943]]], "std": [[[0.18472089012085707]], [[0.19060922224590882]], [[0.20038613214048967]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9372549019607843]], [[0.9411764705882353]]], "mean": [[[0.5025318763616557]], [[0.47683425925925926]], [[0.44741897058823527]]], "std": [[[0.18404395922375333]], [[0.1858367214732853]], [[0.19057236923874907]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7450980392156863]], [[0.6823529411764706]], [[0.7490196078431373]]], "mean": [[[0.3334380004084967]], [[0.4082450408496732]], [[0.48226577001633986]]], "std": [[[0.14758779084959578]], [[0.11618005543615936]], [[0.14976903499471095]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8196078431372549]], [[0.6941176470588235]], [[0.7529411764705882]]], "mean": [[[0.3316599448529412]], [[0.41960838031045755]], [[0.48284219158496733]]], "std": [[[0.144420730333559]], [[0.12268974374374947]], [[0.15194323461378678]]], "count": [100]}}}
+{"episode_index": 33, "stats": {"observation.state": {"min": [-0.049268919974565506, 0.003831260371953249, -0.013148346915841103, -2.811171054840088, -0.024263495579361916, 2.5008132457733154, 0.710486650466919, 0.0], "max": [0.003314285073429346, 0.3398869037628174, 0.008449914865195751, -2.433037757873535, 0.03535443916916847, 3.0738162994384766, 0.8158139586448669, 0.4773360788822174], "mean": [-0.027217557653784752, 0.21237404644489288, -0.0019122099038213491, -2.5740318298339844, 0.007011748384684324, 2.904127359390259, 0.7507036328315735, 0.10266563296318054], "std": [0.02320094034075737, 0.10760177671909332, 0.006473368965089321, 0.15956373512744904, 0.018880071118474007, 0.12801800668239594, 0.04517229646444321, 0.1900530606508255], "count": [236]}, "observation.joint_position": {"min": [-0.049268919974565506, 0.003831260371953249, -0.013148346915841103, -2.811171054840088, -0.024263495579361916, 2.5008132457733154, 0.710486650466919], "max": [0.003314285073429346, 0.3398869037628174, 0.008449914865195751, -2.433037757873535, 0.03535443916916847, 3.0738162994384766, 0.8158139586448669], "mean": [-0.027217557653784752, 0.21237404644489288, -0.0019122099038213491, -2.5740318298339844, 0.007011748384684324, 2.904127359390259, 0.7507036328315735], "std": [0.02320094034075737, 0.10760177671909332, 0.006473368965089321, 0.15956373512744904, 0.018880071118474007, 0.12801800668239594, 0.04517229646444321], "count": [236]}, "observation.eef_pose_quaternion": {"min": [0.38350602984428406, -0.02947881445288658, 0.17803195118904114, 0.9961464405059814, -0.006742658093571663, -0.013821066357195377, -0.010781452059745789], "max": [0.4970691204071045, 0.005730040371417999, 0.26345095038414, 0.9999818801879883, 0.0028400528244674206, 0.08738306909799576, 0.0037820935249328613], "mean": [0.45564764738082886, -0.014880375936627388, 0.1972920149564743, 0.9980505108833313, -0.0001747362402966246, 0.05884189531207085, 0.000510715355630964], "std": [0.04894383251667023, 0.015508781187236309, 0.022067278623580933, 0.000669620290864259, 0.0014532551867887378, 0.02053714357316494, 0.0029264166951179504], "count": [236]}, "observation.eef_pose_rotvec": {"min": [0.38350602984428406, -0.02947881445288658, 0.17803195118904114, -3.1384384632110596, -0.021136555820703506, -0.2206788808107376], "max": [0.4970691204071045, 0.005730040371417999, 0.26345095038414, 3.137732982635498, 0.006077826488763094, 0.2738785445690155], "mean": [0.45564764738082886, -0.014880375936627388, 0.1972920149564743, 1.3002337217330933, -0.0008979287813417614, 0.10327323526144028], "std": [0.04894383251667023, 0.015508781187236309, 0.022067278623580933, 2.849043846130371, 0.0044984943233430386, 0.16614046692848206], "count": [236]}, "observation.eef_rotation_matrix": {"min": [0.9846432209014893, -0.014026818796992302, -0.027699004858732224, -0.012842349708080292, -1.0, -0.008569275960326195, -0.027576548978686333, -0.02163800224661827, -0.999930202960968], "max": [0.9999954104423523, 0.005381220951676369, 0.17404451966285706, 0.005977200344204903, -0.9997513890266418, 0.02148100920021534, 0.17414090037345886, 0.006501596421003342, -0.9847010970115662], "mean": [0.9922274351119995, -0.0005173085955902934, 0.1174248680472374, -0.0001781613245839253, -0.9999762177467346, -0.001063093775883317, 0.11743216961622238, 0.0009696747292764485, -0.9922139048576355], "std": [0.0027062876615673304, 0.0029344770591706038, 0.040986958891153336, 0.002870478667318821, 5.208977745496668e-05, 0.005870619788765907, 0.040973372757434845, 0.0058349561877548695, 0.002670117188245058], "count": [236]}, "observation.gripper": {"min": [0.0], "max": [0.4773360788822174], "mean": [0.10266570746898651], "std": [0.19005325436592102], "count": [236]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094055518507957, 0.019094636663794518], "mean": [0.004106621723622084, 0.004106633365154266], "std": [0.007602127734571695, 0.007602134719491005], "count": [236]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818688541650772], "mean": [0.008213256485760212], "std": [0.015204261057078838], "count": [236]}, "timestamp": {"min": [0.0], "max": [3.9166666666666665], "mean": [1.9583333333333333], "std": [1.1354453360294856], "count": [236]}, "frame_index": {"min": [0], "max": [235], "mean": [117.5], "std": [68.12672016176913], "count": [236]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [236]}, "index": {"min": [7677], "max": [7912], "mean": [7794.5], "std": [68.12672016176913], "count": [236]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [236]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6223195043572985]], [[0.6019479248366013]], [[0.572828515795207]]], "std": [[[0.18829648488310463]], [[0.190992509516673]], [[0.19988033383169074]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[0.9411764705882353]], [[0.9607843137254902]]], "mean": [[[0.5039733877995642]], [[0.47746948529411765]], [[0.4485437445533769]]], "std": [[[0.18500569010589463]], [[0.18750997069865166]], [[0.1920810960769955]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8313725490196079]], [[0.6901960784313725]], [[0.788235294117647]]], "mean": [[[0.33189011029411764]], [[0.40803665645424836]], [[0.48249136642156865]]], "std": [[[0.1491543980241741]], [[0.1161430692821326]], [[0.15047065777449772]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.807843137254902]], [[0.6901960784313725]], [[0.7450980392156863]]], "mean": [[[0.3295892401960784]], [[0.4191564685457516]], [[0.48271720383986927]]], "std": [[[0.14741434067943032]], [[0.12116777143020319]], [[0.15248849708760384]]], "count": [100]}}}
+{"episode_index": 34, "stats": {"observation.state": {"min": [-0.010824867524206638, -0.0017405700637027621, -0.008033226244151592, -2.7957379817962646, -0.002142849378287792, 2.4952006340026855, 0.7409999966621399, 6.309520614311559e-12], "max": [0.03002046048641205, 0.4224529266357422, 0.020918862894177437, -2.1945247650146484, 0.03535445034503937, 2.8364639282226562, 0.823560357093811, 0.4773360788822174], "mean": [0.021110959351062775, 0.24573928117752075, 0.003512668889015913, -2.4318013191223145, 0.002843699185177684, 2.6211917400360107, 0.8095278143882751, 0.09872455894947052], "std": [0.010700256563723087, 0.16044913232326508, 0.012151414528489113, 0.2666929364204407, 0.009019238874316216, 0.1320497840642929, 0.018467221409082413, 0.18772102892398834], "count": [243]}, "observation.joint_position": {"min": [-0.010824867524206638, -0.0017405700637027621, -0.008033226244151592, -2.7957379817962646, -0.002142849378287792, 2.4952006340026855, 0.7409999966621399], "max": [0.03002046048641205, 0.4224529266357422, 0.020918862894177437, -2.1945247650146484, 0.03535445034503937, 2.8364639282226562, 0.823560357093811], "mean": [0.021110959351062775, 0.24573928117752075, 0.003512668889015913, -2.4318013191223145, 0.002843699185177684, 2.6211917400360107, 0.8095278143882751], "std": [0.010700256563723087, 0.16044913232326508, 0.012151414528489113, 0.2666929364204407, 0.009019238874316216, 0.1320497840642929, 0.018467221409082413], "count": [243]}, "observation.eef_pose_quaternion": {"min": [0.37299537658691406, -0.005122203379869461, 0.181125208735466, 0.99867844581604, -0.01094277948141098, -0.05106401443481445, -0.010781152173876762], "max": [0.5505977272987366, 0.013400434516370296, 0.26343852281570435, 0.9999533891677856, 0.0061942050233483315, -0.0073543512262403965, 0.0030151151586323977], "mean": [0.4804408550262451, 0.01140617486089468, 0.19985388219356537, 0.9995447397232056, -0.0008483572164550424, -0.02813204936683178, 0.0004160438838880509], "std": [0.078583262860775, 0.003965965937823057, 0.019536186009645462, 0.00027351765311323106, 0.002954236464574933, 0.009909598156809807, 0.003247844288125634], "count": [243]}, "observation.eef_pose_rotvec": {"min": [0.37299537658691406, -0.005122203379869461, 0.181125208735466, -3.141228437423706, -0.019406255334615707, -0.11550025641918182], "max": [0.5505977272987366, 0.013400434516370296, 0.26343852281570435, 3.1411244869232178, 0.03434548154473305, 0.16022147238254547], "mean": [0.4804408550262451, 0.01140617486089468, 0.19985388219356537, 1.3041553497314453, -0.0016896161250770092, -0.04623310640454292], "std": [0.078583262860775, 0.003965965937823057, 0.019536186009645462, 2.851726770401001, 0.00949202198535204, 0.08132969588041306], "count": [243]}, "observation.eef_rotation_matrix": {"min": [0.9947250485420227, -0.021939802914857864, -0.10201461613178253, -0.021819576621055603, -1.0, -0.0059228274039924145, -0.10197151452302933, -0.02163739502429962, -0.999890923500061], "max": [0.9998141527175903, 0.011971639469265938, -0.014698709361255169, 0.012777593918144703, -0.9997513890266418, 0.021480416879057884, -0.014717206358909607, 0.006129532586783171, -0.9947772026062012], "mean": [0.9982017874717712, -0.0016439432511106133, -0.05624142661690712, -0.0017487008590251207, -0.9999622702598572, -0.0007952467422001064, -0.056224923580884933, 0.0008669326780363917, -0.9981994032859802], "std": [0.0010979821672663093, 0.005833098664879799, 0.019798345863819122, 0.005982967093586922, 6.788026803405955e-05, 0.006417377386242151, 0.019791483879089355, 0.006571896839886904, 0.0010982804233208299], "count": [243]}, "observation.gripper": {"min": [6.309520614311559e-12], "max": [0.4773360788822174], "mean": [0.0987246036529541], "std": [0.18772096931934357], "count": [243]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094714894890785, 0.01909487135708332], "mean": [0.003948982339352369, 0.003948982805013657], "std": [0.007508823648095131, 0.007508827373385429], "count": [243]}, "observation.gripper_width_m": {"min": [5.047616513133291e-13], "max": [0.03818688541650772], "mean": [0.007897968403995037], "std": [0.015017678029835224], "count": [243]}, "timestamp": {"min": [0.0], "max": [4.033333333333333], "mean": [2.0166666666666666], "std": [1.169124395371105], "count": [243]}, "frame_index": {"min": [0], "max": [242], "mean": [121.0], "std": [70.14746372226631], "count": [243]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [243]}, "index": {"min": [7913], "max": [8155], "mean": [8034.0], "std": [70.14746372226631], "count": [243]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [243]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6299119389978214]], [[0.6027262391067538]], [[0.5736545506535948]]], "std": [[[0.18242377008599675]], [[0.19028466067963315]], [[0.19960948790339272]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9372549019607843]], [[0.9568627450980393]]], "mean": [[[0.4997068518518519]], [[0.47278432461873643]], [[0.4449867456427016]]], "std": [[[0.18294232841122043]], [[0.1847343112348225]], [[0.18876611922110628]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6941176470588235]], [[0.6901960784313725]], [[0.7568627450980392]]], "mean": [[[0.3323576062091503]], [[0.40669122549019604]], [[0.4804429248366013]]], "std": [[[0.14703636482329518]], [[0.11572249602921782]], [[0.15119367681117643]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7372549019607844]], [[0.6941176470588235]], [[0.792156862745098]]], "mean": [[[0.32798476715686276]], [[0.41926862949346405]], [[0.48108269199346404]]], "std": [[[0.14373522778390943]], [[0.12282203357844629]], [[0.15440571301639117]]], "count": [100]}}}
+{"episode_index": 35, "stats": {"observation.state": {"min": [-0.026629513129591942, -0.032333195209503174, -0.02102634496986866, -2.8682260513305664, -0.002394020790234208, 2.500838041305542, 0.7212704420089722, 0.0], "max": [0.007436914369463921, 0.36854860186576843, 0.003890366991981864, -2.382800817489624, 0.035355113446712494, 3.088777542114258, 0.7902328968048096, 0.47733592987060547], "mean": [-0.010861836373806, 0.2091328352689743, -0.009741141460835934, -2.5717623233795166, 0.01611919328570366, 2.896059036254883, 0.7500699758529663, 0.09929831326007843], "std": [0.01429066713899374, 0.13679884374141693, 0.006952985189855099, 0.21457552909851074, 0.012924707494676113, 0.13642311096191406, 0.029557092115283012, 0.18780431151390076], "count": [244]}, "observation.joint_position": {"min": [-0.026629513129591942, -0.032333195209503174, -0.02102634496986866, -2.8682260513305664, -0.002394020790234208, 2.500838041305542, 0.7212704420089722], "max": [0.007436914369463921, 0.36854860186576843, 0.003890366991981864, -2.382800817489624, 0.035355113446712494, 3.088777542114258, 0.7902328968048096], "mean": [-0.010861836373806, 0.2091328352689743, -0.009741141460835934, -2.5717623233795166, 0.01611919328570366, 2.896059036254883, 0.7500699758529663], "std": [0.01429066713899374, 0.13679884374141693, 0.006952985189855099, 0.21457552909851074, 0.012924707494676113, 0.13642311096191406, 0.029557092115283012], "count": [244]}, "observation.eef_pose_quaternion": {"min": [0.3646807074546814, -0.02229178324341774, 0.17892548441886902, 0.996462345123291, -0.0020651312079280615, -0.013817338272929192, -0.010781437158584595], "max": [0.5135501623153687, 0.0013211513869464397, 0.2634434103965759, 0.9999783635139465, 0.003862762823700905, 0.08400865644216537, 0.0024494605604559183], "mean": [0.45564085245132446, -0.011620232835412025, 0.19823341071605682, 0.9981420636177063, 0.0002152193628717214, 0.057588912546634674, 3.894582187058404e-05], "std": [0.06666911393404007, 0.010959518142044544, 0.022584307938814163, 0.0006205092067830265, 0.0011613976676017046, 0.019625617191195488, 0.002688175765797496], "count": [244]}, "observation.eef_pose_rotvec": {"min": [0.3646807074546814, -0.02229178324341774, 0.17892548441886902, -3.1374077796936035, -0.012074988335371017, -0.2023911327123642], "max": [0.5135501623153687, 0.0013211513869464397, 0.2634434103965759, 3.1363396644592285, 0.010711124166846275, 0.26353374123573303], "mean": [0.45564085245132446, -0.011620232835412025, 0.19823341071605682, 1.104174256324768, -0.0013016995508223772, 0.09243708103895187], "std": [0.06666911393404007, 0.010959518142044544, 0.022584307938814163, 2.931879758834839, 0.003462132764980197, 0.16717402637004852], "count": [244]}, "observation.eef_rotation_matrix": {"min": [0.9858850836753845, -0.004478205926716328, -0.027691550552845, -0.003757432335987687, -1.0, -0.005161032546311617, -0.027569090947508812, -0.021637948229908943, -0.999933660030365], "max": [0.9999709725379944, 0.007626447360962629, 0.16742299497127533, 0.007823707535862923, -0.9997513890266418, 0.02148100547492504, 0.16742286086082458, 0.004664196167141199, -0.9858744144439697], "mean": [0.9925938844680786, 0.0003244411782361567, 0.11493636667728424, 0.0005366952391341329, -0.9999843835830688, -8.306402014568448e-05, 0.11494570225477219, 6.674102769466117e-05, -0.9925820231437683], "std": [0.002511990023776889, 0.002338722115382552, 0.039179909974336624, 0.002306222915649414, 5.203996624913998e-05, 0.005373574327677488, 0.039152055978775024, 0.005376758519560099, 0.0024820228572934866], "count": [244]}, "observation.gripper": {"min": [0.0], "max": [0.47733592987060547], "mean": [0.0992984026670456], "std": [0.1878044456243515], "count": [244]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909404806792736, 0.019094092771410942], "mean": [0.003971938509494066, 0.003971930593252182], "std": [0.007512192241847515, 0.007512183394283056], "count": [244]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186874240636826], "mean": [0.007943871431052685], "std": [0.015024354681372643], "count": [244]}, "timestamp": {"min": [0.0], "max": [4.05], "mean": [2.025], "std": [1.1739356881873897], "count": [244]}, "frame_index": {"min": [0], "max": [243], "mean": [121.5], "std": [70.43614129124337], "count": [244]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [244]}, "index": {"min": [8156], "max": [8399], "mean": [8277.5], "std": [70.43614129124337], "count": [244]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [244]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6274422058823529]], [[0.6009599128540305]], [[0.571976160130719]]], "std": [[[0.18599885942068878]], [[0.1923774815263385]], [[0.20127664561335384]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.984313725490196]], [[0.9411764705882353]], [[0.9450980392156862]]], "mean": [[[0.5028986029411765]], [[0.47889410130718957]], [[0.4498365604575163]]], "std": [[[0.1836106228420513]], [[0.1864060502430739]], [[0.19093696595331378]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.807843137254902]], [[0.6901960784313725]], [[0.7803921568627451]]], "mean": [[[0.33264190972222224]], [[0.407699362745098]], [[0.48153260620915034]]], "std": [[[0.14989773622579025]], [[0.11602285827891344]], [[0.15013780775080465]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8]], [[0.6980392156862745]], [[0.7490196078431373]]], "mean": [[[0.32904507557189544]], [[0.41974374999999997]], [[0.4824689113562091]]], "std": [[[0.1470910141735559]], [[0.12180400613420014]], [[0.15273704781717623]]], "count": [100]}}}
+{"episode_index": 36, "stats": {"observation.state": {"min": [-0.01080893911421299, 0.09362462162971497, -0.031478457152843475, -2.773273229598999, -0.047736044973134995, 2.5008437633514404, 0.7409999966621399, 3.759301550609884e-11], "max": [0.07923518121242523, 0.3687039613723755, 0.0007343004108406603, -2.385342597961426, 0.035354405641555786, 3.0944087505340576, 0.8809572458267212, 0.4773372411727905], "mean": [0.06778557598590851, 0.2485780566930771, -0.021069221198558807, -2.5276989936828613, -0.011140812188386917, 2.910391330718994, 0.8431593179702759, 0.10058436542749405], "std": [0.020940974354743958, 0.10304193943738937, 0.008405983448028564, 0.16848009824752808, 0.024027487263083458, 0.13694801926612854, 0.031423743814229965, 0.18920692801475525], "count": [248]}, "observation.joint_position": {"min": [-0.01080893911421299, 0.09362462162971497, -0.031478457152843475, -2.773273229598999, -0.047736044973134995, 2.5008437633514404, 0.7409999966621399], "max": [0.07923518121242523, 0.3687039613723755, 0.0007343004108406603, -2.385342597961426, 0.035354405641555786, 3.0944087505340576, 0.8809572458267212], "mean": [0.06778557598590851, 0.2485780566930771, -0.021069221198558807, -2.5276989936828613, -0.011140812188386917, 2.910391330718994, 0.8431593179702759], "std": [0.020940974354743958, 0.10304193943738937, 0.008405983448028564, 0.16848009824752808, 0.024027487263083458, 0.13694801926612854, 0.031423743814229965], "count": [248]}, "observation.eef_pose_quaternion": {"min": [0.396259605884552, -0.005122324451804161, 0.17902275919914246, 0.9966095685958862, -0.0020500889513641596, -0.014818760566413403, -0.010781078599393368], "max": [0.5158079266548157, 0.026958324015140533, 0.263438880443573, 0.9999902844429016, 0.00618732487782836, 0.08225410431623459, 0.0017689019441604614], "mean": [0.4707760214805603, 0.02278822846710682, 0.19588378071784973, 0.9974749088287354, 0.0007381611503660679, 0.06711021065711975, -0.0010658277897164226], "std": [0.05174989253282547, 0.007344565819948912, 0.019732462242245674, 0.0008294036379083991, 0.0012191764544695616, 0.023027971386909485, 0.0022650735918432474], "count": [248]}, "observation.eef_pose_rotvec": {"min": [0.396259605884552, -0.005122324451804161, 0.17902275919914246, -3.138157606124878, -0.010276922956109047, -0.2584047019481659], "max": [0.5158079266548157, 0.026958324015140533, 0.263438880443573, 3.132242202758789, 0.019416196271777153, 0.25356054306030273], "mean": [0.4707760214805603, 0.02278822846710682, 0.19588378071784973, -1.6666470766067505, -0.0005912212072871625, -0.09518337994813919], "std": [0.05174989253282547, 0.007344565819948912, 0.019732462242245674, 2.6508800983428955, 0.004430760629475117, 0.20145809650421143], "count": [248]}, "observation.eef_rotation_matrix": {"min": [0.9864616990089417, -0.004083618987351656, -0.029660658910870552, -0.00408912543207407, -1.0, -0.00257984921336174, -0.029605435207486153, -0.02163723297417164, -0.9999619722366333], "max": [0.9999982714653015, 0.012067185714840889, 0.1639505922794342, 0.012608947232365608, -0.9997513890266418, 0.02148028276860714, 0.16395039856433868, 0.004474840592592955, -0.986468493938446], "mean": [0.9899283051490784, 0.001520682591944933, 0.13384267687797546, 0.0014250996755436063, -0.9999845027923584, 0.0022174613550305367, 0.13384737074375153, -0.0020411103032529354, -0.9899196028709412], "std": [0.0033449840266257524, 0.0023687491193413734, 0.045934468507766724, 0.002499259077012539, 4.997113501303829e-05, 0.004471487365663052, 0.045916762202978134, 0.004593359772115946, 0.0033123150933533907], "count": [248]}, "observation.gripper": {"min": [3.759301550609884e-11], "max": [0.4773372411727905], "mean": [0.1005844697356224], "std": [0.18920664489269257], "count": [248]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909485273063183, 0.019095685333013535], "mean": [0.004023366142064333, 0.004023388959467411], "std": [0.007568265311419964, 0.007568249944597483], "count": [248]}, "observation.gripper_width_m": {"min": [3.007441084362794e-12], "max": [0.03818697854876518], "mean": [0.00804675742983818], "std": [0.015136531554162502], "count": [248]}, "timestamp": {"min": [0.0], "max": [4.116666666666666], "mean": [2.0583333333333336], "std": [1.1931808561804684], "count": [248]}, "frame_index": {"min": [0], "max": [247], "mean": [123.5], "std": [71.5908513708281], "count": [248]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [248]}, "index": {"min": [8400], "max": [8647], "mean": [8523.5], "std": [71.5908513708281], "count": [248]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [248]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6271125980392157]], [[0.6028509041394335]], [[0.5738793818082788]]], "std": [[[0.18404617582474816]], [[0.19007452202759462]], [[0.19857781012725076]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9372549019607843]], [[0.9490196078431372]]], "mean": [[[0.5013500789760349]], [[0.47532008986928104]], [[0.445969387254902]]], "std": [[[0.184736570554042]], [[0.187178916161922]], [[0.19190120150303616]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8352941176470589]], [[0.6862745098039216]], [[0.788235294117647]]], "mean": [[[0.33184546364379086]], [[0.40472073120915036]], [[0.48336963643790853]]], "std": [[[0.14844624178589588]], [[0.11531156707315478]], [[0.1502931051809056]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8431372549019608]], [[0.7058823529411765]], [[0.7450980392156863]]], "mean": [[[0.3313990808823529]], [[0.41429334150326796]], [[0.4796295241013072]]], "std": [[[0.14892869727918287]], [[0.12011485363567834]], [[0.150538027870258]]], "count": [100]}}}
+{"episode_index": 37, "stats": {"observation.state": {"min": [-0.010812263935804367, 0.00701011111959815, -0.01621576026082039, -2.8089940547943115, -0.05221683531999588, 2.500838041305542, 0.7409999966621399, 0.0], "max": [0.06685900688171387, 0.2915186882019043, 0.011165590956807137, -2.4330358505249023, 0.03535449877381325, 3.0721395015716553, 0.8774654865264893, 0.47733715176582336], "mean": [0.055415041744709015, 0.176560640335083, -0.008291937410831451, -2.6122968196868896, -0.018983488902449608, 2.8893237113952637, 0.8512429594993591, 0.0968870297074318], "std": [0.017796240746974945, 0.088556669652462, 0.005127006210386753, 0.14073476195335388, 0.021594811230897903, 0.1306753307580948, 0.02901538833975792, 0.1862533837556839], "count": [255]}, "observation.joint_position": {"min": [-0.010812263935804367, 0.00701011111959815, -0.01621576026082039, -2.8089940547943115, -0.05221683531999588, 2.500838041305542, 0.7409999966621399], "max": [0.06685900688171387, 0.2915186882019043, 0.011165590956807137, -2.4330358505249023, 0.03535449877381325, 3.0721395015716553, 0.8774654865264893], "mean": [0.055415041744709015, 0.176560640335083, -0.008291937410831451, -2.6122968196868896, -0.018983488902449608, 2.8893237113952637, 0.8512429594993591], "std": [0.017796240746974945, 0.088556669652462, 0.005127006210386753, 0.14073476195335388, 0.021594811230897903, 0.1306753307580948, 0.02901538833975792], "count": [255]}, "observation.eef_pose_quaternion": {"min": [0.3830574154853821, -0.005122212693095207, 0.1805255115032196, 0.9967115521430969, -0.006464023143053055, -0.01382246520370245, -0.010781298391520977], "max": [0.48562344908714294, 0.028147470206022263, 0.2634378969669342, 0.9999774098396301, 0.006062505766749382, 0.08096269518136978, 0.0009413688676431775], "mean": [0.4428313970565796, 0.022389519959688187, 0.20057672262191772, 0.9985204935073853, 0.00016649160534143448, 0.050295140594244, -0.0007522214436903596], "std": [0.04190656170248985, 0.007622734643518925, 0.02096138708293438, 0.0008094360819086432, 0.0017021390376612544, 0.020452337339520454, 0.0023093661293387413], "count": [255]}, "observation.eef_pose_rotvec": {"min": [0.3830574154853821, -0.005122212693095207, 0.1805255115032196, -3.1401960849761963, -0.0203009732067585, -0.2542839050292969], "max": [0.48562344908714294, 0.028147470206022263, 0.2634378969669342, 3.1394615173339844, 0.017292838543653488, 0.22846633195877075], "mean": [0.4428313970565796, 0.022389519959688187, 0.20057672262191772, -1.709377408027649, -0.0011257344158366323, -0.065520741045475], "std": [0.04190656170248985, 0.007622734643518925, 0.02096138708293438, 2.6282951831817627, 0.005245881155133247, 0.157450333237648], "count": [255]}, "observation.eef_rotation_matrix": {"min": [0.9868685007095337, -0.012964851222932339, -0.02770180255174637, -0.01282923761755228, -1.0, -0.0024370395112782717, -0.02757934294641018, -0.021637700498104095, -0.9999309778213501], "max": [0.9999781250953674, 0.012142500840127468, 0.16139568388462067, 0.0120997354388237, -0.9997513890266418, 0.02148069627583027, 0.16139017045497894, 0.001442332868464291, -0.9868897199630737], "mean": [0.9940981268882751, 0.0003378441615495831, 0.10040745884180069, 0.0003302916302345693, -0.9999825358390808, 0.0014769755071029067, 0.10041515529155731, -0.0015306983841583133, -0.9940922260284424], "std": [0.0032519991509616375, 0.003388035111129284, 0.04080003872513771, 0.003413392696529627, 5.133316881256178e-05, 0.0046207415871322155, 0.04077906906604767, 0.004621375352144241, 0.0032344209030270576], "count": [255]}, "observation.gripper": {"min": [0.0], "max": [0.47733715176582336], "mean": [0.09688713401556015], "std": [0.18625342845916748], "count": [255]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019095534458756447, 0.01909584179520607], "mean": [0.00387546862475574, 0.003875498892739415], "std": [0.00745015125721693, 0.007450130768120289], "count": [255]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186971098184586], "mean": [0.0077509707771241665], "std": [0.014900274574756622], "count": [255]}, "timestamp": {"min": [0.0], "max": [4.233333333333333], "mean": [2.1166666666666667], "std": [1.2268598881637567], "count": [255]}, "frame_index": {"min": [0], "max": [254], "mean": [127.0], "std": [73.6115932898254], "count": [255]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [255]}, "index": {"min": [8648], "max": [8902], "mean": [8775.0], "std": [73.6115932898254], "count": [255]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [255]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6245009449891068]], [[0.5986096895424836]], [[0.5677270206971677]]], "std": [[[0.1822611066737727]], [[0.19150810839149848]], [[0.19906618514143354]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9921568627450981]], [[0.9529411764705882]], [[0.9607843137254902]]], "mean": [[[0.506462878540305]], [[0.47148202069716777]], [[0.44255518518518516]]], "std": [[[0.18920911659419637]], [[0.18887558535403495]], [[0.19380505281536026]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8156862745098039]], [[0.6901960784313725]], [[0.7725490196078432]]], "mean": [[[0.3326919628267974]], [[0.40670391952614376]], [[0.4830171241830065]]], "std": [[[0.14776021592799837]], [[0.11542238170316922]], [[0.14991359366444096]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8509803921568627]], [[0.6823529411764706]], [[0.7568627450980392]]], "mean": [[[0.33149523692810456]], [[0.4181229881535948]], [[0.482460835375817]]], "std": [[[0.14572221000370297]], [[0.12217453228953581]], [[0.15160419086271007]]], "count": [100]}}}
+{"episode_index": 38, "stats": {"observation.state": {"min": [-0.04830102622509003, 0.0072693959809839725, -0.02707602269947529, -2.753309726715088, -0.006051995325833559, 2.450387716293335, 0.7112724781036377, 4.894798455445937e-11], "max": [0.06269019842147827, 0.444199800491333, 0.000734426430426538, -2.1504411697387695, 0.0353546217083931, 2.8277587890625, 0.8523408770561218, 0.47733598947525024], "mean": [0.01752985641360283, 0.26923513412475586, -0.012907194904983044, -2.3852338790893555, 0.0006113852141425014, 2.5938916206359863, 0.79246586561203, 0.09802711755037308], "std": [0.0500597283244133, 0.16214630007743835, 0.008769716136157513, 0.26458847522735596, 0.010072819888591766, 0.1404334455728531, 0.06336352974176407, 0.18700002133846283], "count": [235]}, "observation.joint_position": {"min": [-0.04830102622509003, 0.0072693959809839725, -0.02707602269947529, -2.753309726715088, -0.006051995325833559, 2.450387716293335, 0.7112724781036377], "max": [0.06269019842147827, 0.444199800491333, 0.000734426430426538, -2.1504411697387695, 0.0353546217083931, 2.8277587890625, 0.8523408770561218], "mean": [0.01752985641360283, 0.26923513412475586, -0.012907194904983044, -2.3852338790893555, 0.0006113852141425014, 2.5938916206359863, 0.79246586561203], "std": [0.0500597283244133, 0.16214630007743835, 0.008769716136157513, 0.26458847522735596, 0.010072819888591766, 0.1404334455728531, 0.06336352974176407], "count": [235]}, "observation.eef_pose_quaternion": {"min": [0.38645702600479126, -0.02931811660528183, 0.18344876170158386, 0.9989595413208008, -0.005240289028733969, -0.04514945298433304, -0.010781368240714073], "max": [0.5609473586082458, 0.03147709369659424, 0.26344066858291626, 0.9999604225158691, 0.0028619389049708843, -0.008893100544810295, 0.005733839236199856], "mean": [0.4928959608078003, 0.006456073839217424, 0.2013573795557022, 0.9994487762451172, -0.0013908888213336468, -0.03012332320213318, 0.0020012441091239452], "std": [0.07556197792291641, 0.027307013049721718, 0.019796691834926605, 0.00035808628308586776, 0.0013791797682642937, 0.012965965084731579, 0.0043686204589903355], "count": [235]}, "observation.eef_pose_rotvec": {"min": [0.38645702600479126, -0.02931811660528183, 0.18344876170158386, -3.1413638591766357, -0.012223991565406322, -0.13669727742671967], "max": [0.5609473586082458, 0.03147709369659424, 0.26344066858291626, 3.141356945037842, 0.01641106605529785, 0.14147624373435974], "mean": [0.4928959608078003, 0.006456073839217424, 0.2013573795557022, 0.8103061318397522, -0.0024444914888590574, -0.05090094730257988], "std": [0.07556197792291641, 0.027307013049721718, 0.019796691834926605, 3.025712251663208, 0.005625711753964424, 0.08920280635356903], "count": [235]}, "observation.eef_rotation_matrix": {"min": [0.9958732724189758, -0.010906265117228031, -0.09016449749469757, -0.010034086182713509, -1.0, -0.01130866538733244, -0.09024541825056076, -0.02163781225681305, -0.9998417496681213], "max": [0.9998418092727661, 0.0054264371283352375, -0.017785528674721718, 0.006019524298608303, -0.9997513890266418, 0.0214808639138937, -0.017785465344786644, 0.011607814580202103, -0.995890200138092], "mean": [0.9978413581848145, -0.0025870800018310547, -0.06021551415324211, -0.002972076879814267, -0.999944806098938, -0.003889404470100999, -0.06019289046525955, 0.004107197280973196, -0.9978026747703552], "std": [0.0014165820321068168, 0.0026756254956126213, 0.025904547423124313, 0.0028639633674174547, 5.4203894251259044e-05, 0.00869122426956892, 0.025895651429891586, 0.008773786947131157, 0.0014277943409979343], "count": [235]}, "observation.gripper": {"min": [4.894798455445937e-11], "max": [0.47733598947525024], "mean": [0.09802719205617905], "std": [0.18700011074543], "count": [235]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094698131084442, 0.019095534458756447], "mean": [0.003921095281839371, 0.003921077121049166], "std": [0.007480026688426733, 0.00748000293970108], "count": [235]}, "observation.gripper_width_m": {"min": [3.915838573537167e-12], "max": [0.038186877965927124], "mean": [0.007842175662517548], "std": [0.01496000774204731], "count": [235]}, "timestamp": {"min": [0.0], "max": [3.9], "mean": [1.95], "std": [1.1306340404097754], "count": [235]}, "frame_index": {"min": [0], "max": [234], "mean": [117.0], "std": [67.83804242458652], "count": [235]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [235]}, "index": {"min": [8903], "max": [9137], "mean": [9020.0], "std": [67.83804242458652], "count": [235]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [235]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6262602696078432]], [[0.6032717293028322]], [[0.5751738425925926]]], "std": [[[0.17876015044165325]], [[0.18707522432091234]], [[0.1967519858681214]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9568627450980393]], [[0.9411764705882353]], [[0.9529411764705882]]], "mean": [[[0.5013172821350762]], [[0.4737164787581699]], [[0.44568115468409586]]], "std": [[[0.18262173321709965]], [[0.18467424568548177]], [[0.18878470054244992]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6941176470588235]], [[0.6862745098039216]], [[0.7568627450980392]]], "mean": [[[0.3325778941993464]], [[0.407694891748366]], [[0.48081382352941177]]], "std": [[[0.146617625471979]], [[0.11614770883212035]], [[0.15102230424968677]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6941176470588235]], [[0.6862745098039216]], [[0.796078431372549]]], "mean": [[[0.32846444035947714]], [[0.4194397753267974]], [[0.48157095588235294]]], "std": [[[0.14359585842508946]], [[0.12251291786662534]], [[0.15433207268476218]]], "count": [100]}}}
+{"episode_index": 39, "stats": {"observation.state": {"min": [-0.010824034921824932, 0.06517987698316574, -0.0014894522028043866, -2.7837624549865723, -0.030239185318350792, 2.500833511352539, 0.7409999966621399, 4.4735923299121794e-11], "max": [0.04538046941161156, 0.35874590277671814, 0.010341647081077099, -2.35799241065979, 0.03535445034503937, 3.0123534202575684, 0.846751868724823, 0.4773368239402771], "mean": [0.03320924565196037, 0.2287859320640564, 0.0025619121734052896, -2.519178867340088, -0.007259757723659277, 2.8056328296661377, 0.82852703332901, 0.10238014161586761], "std": [0.01415911503136158, 0.1073935478925705, 0.003548245644196868, 0.18670421838760376, 0.01597479172050953, 0.13992005586624146, 0.02342677302658558, 0.18994122743606567], "count": [225]}, "observation.joint_position": {"min": [-0.010824034921824932, 0.06517987698316574, -0.0014894522028043866, -2.7837624549865723, -0.030239185318350792, 2.500833511352539, 0.7409999966621399], "max": [0.04538046941161156, 0.35874590277671814, 0.010341647081077099, -2.35799241065979, 0.03535445034503937, 3.0123534202575684, 0.846751868724823], "mean": [0.03320924565196037, 0.2287859320640564, 0.0025619121734052896, -2.519178867340088, -0.007259757723659277, 2.8056328296661377, 0.82852703332901], "std": [0.01415911503136158, 0.1073935478925705, 0.003548245644196868, 0.18670421838760376, 0.01597479172050953, 0.13992005586624146, 0.02342677302658558], "count": [225]}, "observation.eef_pose_quaternion": {"min": [0.3875291645526886, -0.005122165661305189, 0.17989486455917358, 0.9987039566040039, -0.003558602649718523, -0.013817277736961842, -0.01078107301145792], "max": [0.5154287219047546, 0.02272881008684635, 0.26344814896583557, 0.9999902248382568, 0.0028399531729519367, 0.05089276283979416, 0.00016915654123295099], "mean": [0.4669012129306793, 0.017587676644325256, 0.19763366878032684, 0.999441921710968, 1.2348617019597441e-05, 0.028854966163635254, -0.0010652558412402868], "std": [0.0553169883787632, 0.006788021419197321, 0.019947994500398636, 0.0004435675509739667, 0.0010698131518438458, 0.016641056165099144, 0.0023518591187894344], "count": [225]}, "observation.eef_pose_rotvec": {"min": [0.3875291645526886, -0.005122165661305189, 0.17989486455917358, -3.1404669284820557, -0.008861254900693893, -0.15988272428512573], "max": [0.5154287219047546, 0.02272881008684635, 0.26344814896583557, 3.1386172771453857, 0.01117485947906971, 0.15742282569408417], "mean": [0.4669012129306793, 0.017587676644325256, 0.19763366878032684, -1.7151933908462524, 0.0006220958894118667, -0.02187800593674183], "std": [0.0553169883787632, 0.006788021419197321, 0.019947994500398636, 2.627387523651123, 0.0032951568718999624, 0.10231070220470428], "count": [225]}, "observation.eef_rotation_matrix": {"min": [0.9948198199272156, -0.007059688679873943, -0.027691427618265152, -0.007164075504988432, -1.0, -0.00022417353466153145, -0.02756897546350956, -0.021637212485074997, -0.9999626278877258], "max": [0.9999854564666748, 0.005381176248192787, 0.10165363550186157, 0.005976847372949123, -0.9997513890266418, 0.02148028463125229, 0.10165364295244217, 0.00045514394878409803, -0.9948198795318604], "mean": [0.997778594493866, 2.701664561755024e-05, 0.05766213685274124, 2.2315844034892507e-05, -0.9999848008155823, 0.0021223395597189665, 0.05766703188419342, -0.002137902658432722, -0.9977672696113586], "std": [0.001786169596016407, 0.00209283665753901, 0.033245909959077835, 0.0021852385252714157, 5.1810155127895996e-05, 0.004686110652983189, 0.033231426030397415, 0.0047210585325956345, 0.001772962394170463], "count": [225]}, "observation.gripper": {"min": [4.4735923299121794e-11], "max": [0.4773368239402771], "mean": [0.10238022357225418], "std": [0.18994110822677612], "count": [225]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909448392689228, 0.019095391035079956], "mean": [0.004095205571502447, 0.00409521022811532], "std": [0.007597625721246004, 0.007597639691084623], "count": [225]}, "observation.gripper_width_m": {"min": [3.5788737424991e-12], "max": [0.038186945021152496], "mean": [0.008190417662262917], "std": [0.015195289626717567], "count": [225]}, "timestamp": {"min": [0.0], "max": [3.7333333333333334], "mean": [1.8666666666666667], "std": [1.0825210630060977], "count": [225]}, "frame_index": {"min": [0], "max": [224], "mean": [112.0], "std": [64.95126378036586], "count": [225]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [225]}, "index": {"min": [9138], "max": [9362], "mean": [9250.0], "std": [64.95126378036586], "count": [225]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [225]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6283009177559913]], [[0.6008562881263616]], [[0.5713914406318082]]], "std": [[[0.18276270418770454]], [[0.1920713120532403]], [[0.20040296278305145]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9372549019607843]], [[0.9450980392156862]]], "mean": [[[0.5007489488017429]], [[0.473981279956427]], [[0.44526586328976037]]], "std": [[[0.18450055124008077]], [[0.18660334282125593]], [[0.19102023035032137]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7647058823529411]], [[0.6901960784313725]], [[0.7843137254901961]]], "mean": [[[0.3329845302287582]], [[0.4052937336601307]], [[0.48165447303921566]]], "std": [[[0.1487827310491089]], [[0.11561962026794667]], [[0.1502881750063162]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.803921568627451]], [[0.6901960784313725]], [[0.7568627450980392]]], "mean": [[[0.3300556597222222]], [[0.4150129473039216]], [[0.4813790257352941]]], "std": [[[0.1458696480550171]], [[0.12062336410859273]], [[0.1521422296269675]]], "count": [100]}}}
+{"episode_index": 40, "stats": {"observation.state": {"min": [-0.010808969847857952, 0.09245026111602783, -0.01265892293304205, -2.599074363708496, 0.0011314409784972668, 2.4531071186065674, 0.7409999966621399, 0.0], "max": [0.025797009468078613, 0.4536404609680176, 0.0007984663243405521, -2.1469545364379883, 0.03535442054271698, 2.7270631790161133, 0.802756130695343, 0.47733616828918457], "mean": [0.016119377687573433, 0.308817982673645, -0.007595316972583532, -2.3292760848999023, 0.008330115117132664, 2.5685417652130127, 0.7878286838531494, 0.08752886950969696], "std": [0.010724364779889584, 0.13430753350257874, 0.004409518092870712, 0.19976118206977844, 0.007517154794186354, 0.09124806523323059, 0.012013937346637249, 0.17835146188735962], "count": [225]}, "observation.joint_position": {"min": [-0.010808969847857952, 0.09245026111602783, -0.01265892293304205, -2.599074363708496, 0.0011314409784972668, 2.4531071186065674, 0.7409999966621399], "max": [0.025797009468078613, 0.4536404609680176, 0.0007984663243405521, -2.1469545364379883, 0.03535442054271698, 2.7270631790161133, 0.802756130695343], "mean": [0.016119377687573433, 0.308817982673645, -0.007595316972583532, -2.3292760848999023, 0.008330115117132664, 2.5685417652130127, 0.7878286838531494], "std": [0.010724364779889584, 0.13430753350257874, 0.004409518092870712, 0.19976118206977844, 0.007517154794186354, 0.09124806523323059, 0.012013937346637249], "count": [225]}, "observation.eef_pose_quaternion": {"min": [0.431867390871048, -0.005122339818626642, 0.1777062565088272, 0.9989544749259949, -0.003594593144953251, -0.04570915549993515, -0.010780995711684227], "max": [0.5627765655517578, 0.007388232741504908, 0.26344043016433716, 0.9998440146446228, 0.002839724998921156, -0.013708863407373428, 0.0006158982869237661], "mean": [0.5099257230758667, 0.004472833126783371, 0.1983349770307541, 0.9993729591369629, -0.0001963436370715499, -0.03473915159702301, -0.000633392424788326], "std": [0.057039666920900345, 0.0036301433574408293, 0.021482646465301514, 0.00017632421804592013, 0.00105429464019835, 0.006279053166508675, 0.0025183898396790028], "count": [225]}, "observation.eef_pose_rotvec": {"min": [0.431867390871048, -0.005122339818626642, 0.1777062565088272, -3.1398627758026123, -0.011290387250483036, -0.14356905221939087], "max": [0.5627765655517578, 0.007388232741504908, 0.26344043016433716, 3.1403942108154297, 0.0033428396563977003, 0.13591992855072021], "mean": [0.5099257230758667, 0.004472833126783371, 0.1983349770307541, 1.4384702444076538, -0.0012540712486952543, -0.0530097521841526], "std": [0.057039666920900345, 0.0036301433574408293, 0.021482646465301514, 2.788783073425293, 0.0031195245683193207, 0.0973873883485794], "count": [225]}, "observation.eef_rotation_matrix": {"min": [0.9958205819129944, -0.007174753118306398, -0.09132315218448639, -0.007200721185654402, -1.0, -0.0010267702164128423, -0.09132233262062073, -0.021637070924043655, -0.9993920922279358], "max": [0.9996082186698914, 0.005380607210099697, -0.027474189177155495, 0.005976502783596516, -0.9997513890266418, 0.021480116993188858, -0.0273527130484581, 0.0014372153673321009, -0.9958211183547974], "mean": [0.9975055456161499, -0.0004122582613490522, -0.06943509727716446, -0.0003725730930455029, -0.9999843239784241, 0.0012822183780372143, -0.06943002343177795, -0.001250901841558516, -0.9974942803382874], "std": [0.0007385301869362593, 0.0020701668690890074, 0.012533305212855339, 0.0021483926102519035, 5.259261524770409e-05, 0.005017243791371584, 0.01254949625581503, 0.005054792854934931, 0.0007083385135047138], "count": [225]}, "observation.gripper": {"min": [0.0], "max": [0.47733616828918457], "mean": [0.08752891421318054], "std": [0.17835134267807007], "count": [225]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094068557024002, 0.01909450814127922], "mean": [0.0035011544823646545, 0.003501156810671091], "std": [0.007134037557989359, 0.007134069688618183], "count": [225]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818689286708832], "mean": [0.0070023140870034695], "std": [0.01426810584962368], "count": [225]}, "timestamp": {"min": [0.0], "max": [3.7333333333333334], "mean": [1.8666666666666667], "std": [1.0825210630060977], "count": [225]}, "frame_index": {"min": [0], "max": [224], "mean": [112.0], "std": [64.95126378036586], "count": [225]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [225]}, "index": {"min": [9363], "max": [9587], "mean": [9475.0], "std": [64.95126378036586], "count": [225]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [225]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6254374673202615]], [[0.605096244553377]], [[0.5773594825708062]]], "std": [[[0.1879365722609336]], [[0.18938174337342017]], [[0.1999652221859205]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9411764705882353]], [[0.9490196078431372]]], "mean": [[[0.5001659422657952]], [[0.4711358496732026]], [[0.44283782407407407]]], "std": [[[0.18239720248907532]], [[0.18549620523840124]], [[0.18962451672348352]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6980392156862745]], [[0.6823529411764706]], [[0.792156862745098]]], "mean": [[[0.3320331107026144]], [[0.4069812949346405]], [[0.48009741625816993]]], "std": [[[0.14707970613187168]], [[0.1156051491606787]], [[0.15243676210420332]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7411764705882353]], [[0.6901960784313725]], [[0.7843137254901961]]], "mean": [[[0.32805362336601307]], [[0.41885554942810455]], [[0.4803755126633987]]], "std": [[[0.14490274482737933]], [[0.12055369436611332]], [[0.15518167270268252]]], "count": [100]}}}
+{"episode_index": 41, "stats": {"observation.state": {"min": [-0.010809000581502914, 0.08504915237426758, -0.01384226605296135, -2.7376158237457275, -0.02432813122868538, 2.500842809677124, 0.7409999966621399, 2.807973905477601e-12], "max": [0.02527877502143383, 0.29561662673950195, 0.005768579430878162, -2.4330358505249023, 0.035354483872652054, 3.0238382816314697, 0.8330186605453491, 0.4773363471031189], "mean": [0.010775593109428883, 0.20169992744922638, -0.00736335851252079, -2.5754880905151367, -0.007124176248908043, 2.8843157291412354, 0.7971457242965698, 0.09596140682697296], "std": [0.010111689567565918, 0.07085294276475906, 0.006660779472440481, 0.10858120769262314, 0.013290265575051308, 0.11347245424985886, 0.02483069896697998, 0.18578927218914032], "count": [250]}, "observation.joint_position": {"min": [-0.010809000581502914, 0.08504915237426758, -0.01384226605296135, -2.7376158237457275, -0.02432813122868538, 2.500842809677124, 0.7409999966621399], "max": [0.02527877502143383, 0.29561662673950195, 0.005768579430878162, -2.4330358505249023, 0.035354483872652054, 3.0238382816314697, 0.8330186605453491], "mean": [0.010775593109428883, 0.20169992744922638, -0.00736335851252079, -2.5754880905151367, -0.007124176248908043, 2.8843157291412354, 0.7971457242965698], "std": [0.010111689567565918, 0.07085294276475906, 0.006660779472440481, 0.10858120769262314, 0.013290265575051308, 0.11347245424985886, 0.02483069896697998], "count": [250]}, "observation.eef_pose_quaternion": {"min": [0.4063052833080292, -0.005122212693095207, 0.18201762437820435, 0.9967660307884216, -0.00613137474283576, -0.013820714317262173, -0.010781186632812023], "max": [0.4856971502304077, 0.011915837414562702, 0.2635926604270935, 0.9999707937240601, 0.0028399513103067875, 0.08011288940906525, 0.0028993324376642704], "mean": [0.4557276964187622, 0.0015299912774935365, 0.20019954442977905, 0.998375415802002, -0.0003731386677827686, 0.05355466529726982, 0.0008391136070713401], "std": [0.03299057111144066, 0.007042440120130777, 0.01972934417426586, 0.000645510561298579, 0.0014862221432849765, 0.019123973324894905, 0.0030271171126514673], "count": [250]}, "observation.eef_pose_rotvec": {"min": [0.4063052833080292, -0.005122212693095207, 0.18201762437820435, -3.139626979827881, -0.019242873415350914, -0.21323315799236298], "max": [0.4856971502304077, 0.011915837414562702, 0.2635926604270935, 3.1358447074890137, 0.0021853481885045767, 0.25136494636535645], "mean": [0.4557276964187622, 0.0015299912774935365, 0.20019954442977905, 2.0298726558685303, -0.0025996349286288023, 0.13980180025100708], "std": [0.03299057111144066, 0.007042440120130777, 0.01972934417426586, 2.385378122329712, 0.004041342996060848, 0.11094191670417786], "count": [250]}, "observation.eef_rotation_matrix": {"min": [0.987092912197113, -0.012475734576582909, -0.027698300778865814, -0.011971583589911461, -1.0, -0.005847702734172344, -0.027575844898819923, -0.021637465804815292, -0.9998875856399536], "max": [0.9999923706054688, 0.005381017457693815, 0.15968400239944458, 0.005976997781544924, -0.9997513890266418, 0.021480485796928406, 0.15973122417926788, 0.005731435026973486, -0.9871559739112854], "mean": [0.9935274124145508, -0.000924379681237042, 0.10690703988075256, -0.0005627177888527513, -0.9999753832817078, -0.0017525431467220187, 0.1069178357720375, 0.0015941942110657692, -0.9935123324394226], "std": [0.0026060573291033506, 0.0030134350527077913, 0.03817026689648628, 0.002924481639638543, 4.902865839540027e-05, 0.0060760946944355965, 0.03815393149852753, 0.0060318224132061005, 0.002572826109826565], "count": [250]}, "observation.gripper": {"min": [2.807973905477601e-12], "max": [0.4773363471031189], "mean": [0.09596142917871475], "std": [0.18578919768333435], "count": [250]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094428047537804, 0.01909494213759899], "mean": [0.0038384522777050734, 0.0038384587969630957], "std": [0.0074315606616437435, 0.00743155786767602], "count": [250]}, "observation.gripper_width_m": {"min": [2.2463790810139939e-13], "max": [0.03818690776824951], "mean": [0.007676913868635893], "std": [0.014863133430480957], "count": [250]}, "timestamp": {"min": [0.0], "max": [4.15], "mean": [2.075], "std": [1.2028034382687436], "count": [250]}, "frame_index": {"min": [0], "max": [249], "mean": [124.5], "std": [72.16820629612461], "count": [250]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [250]}, "index": {"min": [9588], "max": [9837], "mean": [9712.5], "std": [72.16820629612461], "count": [250]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [250]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6192260539215687]], [[0.599340552832244]], [[0.5697345697167756]]], "std": [[[0.18620780700959227]], [[0.18985409880071785]], [[0.19820929880160976]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[0.9490196078431372]], [[0.9490196078431372]]], "mean": [[[0.5097550490196079]], [[0.4721406181917211]], [[0.44325005991285404]]], "std": [[[0.19051917378739885]], [[0.19021553766690988]], [[0.19513890307000414]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7490196078431373]], [[0.6823529411764706]], [[0.7450980392156863]]], "mean": [[[0.33316041870915036]], [[0.407879362745098]], [[0.48180569444444443]]], "std": [[[0.14863823226536366]], [[0.11630026794516024]], [[0.14997019836835984]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.796078431372549]], [[0.6823529411764706]], [[0.7490196078431373]]], "mean": [[[0.33109224264705883]], [[0.41946067197712417]], [[0.4823079922385621]]], "std": [[[0.14580088391874912]], [[0.12273428208544716]], [[0.1519912270991055]]], "count": [100]}}}
+{"episode_index": 42, "stats": {"observation.state": {"min": [-0.030688581988215446, 0.0234440416097641, -0.025639867410063744, -2.662104845046997, -0.011511608958244324, 2.4289584159851074, 0.7367420196533203, 0.0], "max": [0.004220666363835335, 0.3669326901435852, 0.0007343943580053747, -2.2624948024749756, 0.03535447642207146, 2.6890640258789062, 0.7812702059745789, 0.47733598947525024], "mean": [-0.009330845437943935, 0.23674222826957703, -0.019348256289958954, -2.4237918853759766, -0.00568455271422863, 2.5587472915649414, 0.7619397044181824, 0.08612018823623657], "std": [0.015327907167375088, 0.11818508803844452, 0.005450843367725611, 0.17126548290252686, 0.010157233104109764, 0.0760955885052681, 0.020304696634411812, 0.17707742750644684], "count": [237]}, "observation.joint_position": {"min": [-0.030688581988215446, 0.0234440416097641, -0.025639867410063744, -2.662104845046997, -0.011511608958244324, 2.4289584159851074, 0.7367420196533203], "max": [0.004220666363835335, 0.3669326901435852, 0.0007343943580053747, -2.2624948024749756, 0.03535447642207146, 2.6890640258789062, 0.7812702059745789], "mean": [-0.009330845437943935, 0.23674222826957703, -0.019348256289958954, -2.4237918853759766, -0.00568455271422863, 2.5587472915649414, 0.7619397044181824], "std": [0.015327907167375088, 0.11818508803844452, 0.005450843367725611, 0.17126548290252686, 0.010157233104109764, 0.0760955885052681, 0.020304696634411812], "count": [237]}, "observation.eef_pose_quaternion": {"min": [0.40710562467575073, -0.022834621369838715, 0.18298451602458954, 0.9978951215744019, -0.005722611211240292, -0.06459709256887436, -0.010781142860651016], "max": [0.5276042222976685, -0.005122029688209295, 0.2634392976760864, 0.9998440742492676, 0.00652144243940711, -0.013743028044700623, 0.005319895688444376], "mean": [0.4796436131000519, -0.013019191101193428, 0.20227989554405212, 0.9986484050750732, 5.86756577831693e-05, -0.050892241299152374, 0.0022522262297570705], "std": [0.051561709493398666, 0.0069058844819664955, 0.02134888432919979, 0.000349124864442274, 0.0017809373093768954, 0.009318611584603786, 0.003947157878428698], "count": [237]}, "observation.eef_pose_rotvec": {"min": [0.40710562467575073, -0.022834621369838715, 0.18298451602458954, -3.1368789672851562, -0.009158558212220669, -0.19117039442062378], "max": [0.5276042222976685, -0.005122029688209295, 0.2634392976760864, 3.1369099617004395, 0.02045261114835739, 0.20272961258888245], "mean": [0.4796436131000519, -0.013019191101193428, 0.20227989554405212, 1.8353739976882935, 0.0009525284403935075, -0.10093369334936142], "std": [0.051561709493398666, 0.0069058844819664955, 0.02134888432919979, 2.53556752204895, 0.005503590684384108, 0.12699459493160248], "count": [237]}, "observation.eef_rotation_matrix": {"min": [0.991594672203064, -0.011676648631691933, -0.12890462577342987, -0.011166206561028957, -1.0, -0.010603700764477253, -0.1289398968219757, -0.021637367084622383, -0.9993941187858582], "max": [0.9996057748794556, 0.013294645585119724, -0.027543460950255394, 0.012758215889334679, -0.9997513890266418, 0.02148040570318699, -0.027420058846473694, 0.010649265721440315, -0.9916492104530334], "mean": [0.9946402311325073, 0.00038863770896568894, -0.1016417145729065, -0.00015312856703530997, -0.9999507665634155, -0.004488991107791662, -0.10163938254117966, 0.004505270626395941, -0.9946048259735107], "std": [0.0014337231405079365, 0.003577859839424491, 0.01858353801071644, 0.0035625488962978125, 4.892202923656441e-05, 0.007901904173195362, 0.01860266551375389, 0.007877613417804241, 0.00139648059848696], "count": [237]}, "observation.gripper": {"min": [0.0], "max": [0.47733598947525024], "mean": [0.08612028509378433], "std": [0.17707735300064087], "count": [237]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909508742392063, 0.0190951656550169], "mean": [0.0034448246005922556, 0.0034447968937456608], "std": [0.007083133794367313, 0.007083071395754814], "count": [237]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186877965927124], "mean": [0.006889623124152422], "std": [0.014166186563670635], "count": [237]}, "timestamp": {"min": [0.0], "max": [3.933333333333333], "mean": [1.9666666666666668], "std": [1.1402566312831446], "count": [237]}, "frame_index": {"min": [0], "max": [236], "mean": [118.0], "std": [68.41539787698868], "count": [237]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [237]}, "index": {"min": [9838], "max": [10074], "mean": [9956.0], "std": [68.41539787698868], "count": [237]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [237]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6234682461873639]], [[0.5999893001089325]], [[0.5706456699346405]]], "std": [[[0.18495473881804353]], [[0.19162065532363926]], [[0.20113061007981373]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9490196078431372]], [[0.9372549019607843]], [[0.9450980392156862]]], "mean": [[[0.5016854248366013]], [[0.4732359123093682]], [[0.44557637799564265]]], "std": [[[0.18240281055659652]], [[0.18408638956264048]], [[0.188175271933764]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6745098039215687]], [[0.6784313725490196]], [[0.7725490196078432]]], "mean": [[[0.332169477124183]], [[0.4072601572712418]], [[0.48104413194444445]]], "std": [[[0.1457559992055551]], [[0.11595806949342734]], [[0.15161243122425244]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6980392156862745]], [[0.6980392156862745]], [[0.792156862745098]]], "mean": [[[0.32863930964052285]], [[0.4203956638071895]], [[0.4822021384803921]]], "std": [[[0.14349444082172808]], [[0.1228968351340366]], [[0.1544978095091282]]], "count": [100]}}}
+{"episode_index": 43, "stats": {"observation.state": {"min": [-0.04742377623915672, 0.033929068595170975, -0.02252570539712906, -2.8299899101257324, -0.04037906974554062, 2.500845432281494, 0.7093721628189087, 0.0], "max": [0.027193184942007065, 0.3218629062175751, 0.009032268077135086, -2.4330358505249023, 0.03535448759794235, 3.0618581771850586, 0.8522045612335205, 0.4773365557193756], "mean": [-0.016194012016057968, 0.1961469203233719, -0.006396811921149492, -2.5951640605926514, 0.0006820456474088132, 2.888559341430664, 0.7650278806686401, 0.0950326919555664], "std": [0.03228694573044777, 0.09734047204256058, 0.008128637447953224, 0.16498173773288727, 0.025227323174476624, 0.12719503045082092, 0.06137591972947121, 0.18504785001277924], "count": [265]}, "observation.joint_position": {"min": [-0.04742377623915672, 0.033929068595170975, -0.02252570539712906, -2.8299899101257324, -0.04037906974554062, 2.500845432281494, 0.7093721628189087], "max": [0.027193184942007065, 0.3218629062175751, 0.009032268077135086, -2.4330358505249023, 0.03535448759794235, 3.0618581771850586, 0.8522045612335205], "mean": [-0.016194012016057968, 0.1961469203233719, -0.006396811921149492, -2.5951640605926514, 0.0006820456474088132, 2.888559341430664, 0.7650278806686401], "std": [0.03228694573044777, 0.09734047204256058, 0.008128637447953224, 0.16498173773288727, 0.025227323174476624, 0.12719503045082092, 0.06137591972947121], "count": [265]}, "observation.eef_pose_quaternion": {"min": [0.3744804859161377, -0.029652273282408714, 0.17818287014961243, 0.9967844486236572, -0.01180451363325119, -0.013821051456034184, -0.010781068354845047], "max": [0.4899054169654846, 0.014002250507473946, 0.2634376883506775, 0.9999871850013733, 0.0028397762216627598, 0.07923819869756699, 0.00540345860645175], "mean": [0.4473225474357605, -0.011875529773533344, 0.19697172939777374, 0.9986345171928406, -0.0008910306496545672, 0.048631295561790466, 0.0005327668623067439], "std": [0.050786662846803665, 0.019624769687652588, 0.020191511139273643, 0.0006119883037172258, 0.0026713155675679445, 0.018657902255654335, 0.002819546265527606], "count": [265]}, "observation.eef_pose_rotvec": {"min": [0.3744804859161377, -0.029652273282408714, 0.17818287014961243, -3.140810012817383, -0.036996811628341675, -0.19430787861347198], "max": [0.4899054169654846, 0.014002250507473946, 0.2634376883506775, 3.1406266689300537, 0.011670777574181557, 0.24814024567604065], "mean": [0.4473225474357605, -0.011875529773533344, 0.19697172939777374, 1.928128719329834, -0.0028791148215532303, 0.11841125041246414], "std": [0.050786662846803665, 0.019624769687652588, 0.020191511139273643, 2.4704198837280273, 0.008342808112502098, 0.11272981017827988], "count": [265]}, "observation.eef_rotation_matrix": {"min": [0.9872093200683594, -0.024143334478139877, -0.027698978781700134, -0.0229654498398304, -1.0, -0.012122442945837975, -0.027576517313718796, -0.021637234836816788, -0.9999715089797974], "max": [0.999976396560669, 0.005380661226809025, 0.15785819292068481, 0.005976653192192316, -0.9996882081031799, 0.021480247378349304, 0.1580754667520523, 0.009557496756315231, -0.987392008304596], "mean": [0.9945580959320068, -0.0019170644227415323, 0.09710175544023514, -0.0016379717271775007, -0.9999703168869019, -0.0011907832231372595, 0.09711700677871704, 0.0009331358596682549, -0.9945573806762695], "std": [0.002461392665281892, 0.005434000864624977, 0.03723660483956337, 0.005226313602179289, 7.377611473202705e-05, 0.005764756817370653, 0.037240032106637955, 0.005529326386749744, 0.0024125096388161182], "count": [265]}, "observation.gripper": {"min": [0.0], "max": [0.4773365557193756], "mean": [0.09503278136253357], "std": [0.18504764139652252], "count": [265]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909417100250721, 0.019095096737146378], "mean": [0.0038013053126633167, 0.0038013148587197065], "std": [0.0074018873274326324, 0.0074019161984324455], "count": [265]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186922669410706], "mean": [0.0076026213355362415], "std": [0.014803810976445675], "count": [265]}, "timestamp": {"min": [0.0], "max": [4.4], "mean": [2.2], "std": [1.2749727665936852], "count": [265]}, "frame_index": {"min": [0], "max": [264], "mean": [132.0], "std": [76.49836599562111], "count": [265]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [265]}, "index": {"min": [10075], "max": [10339], "mean": [10207.0], "std": [76.49836599562111], "count": [265]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [265]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6215319989106755]], [[0.6022164569716776]], [[0.5723546051198256]]], "std": [[[0.18662283143296018]], [[0.18964755480666112]], [[0.1984004663643901]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.984313725490196]], [[0.9372549019607843]], [[0.9450980392156862]]], "mean": [[[0.5040864270152505]], [[0.47680945261437907]], [[0.44804672385620914]]], "std": [[[0.1841927496393832]], [[0.18702456929418113]], [[0.1914006511748353]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.803921568627451]], [[0.6941176470588235]], [[0.7803921568627451]]], "mean": [[[0.3327015584150327]], [[0.4076603819444444]], [[0.48163398897058823]]], "std": [[[0.1496098728978607]], [[0.11604768658125804]], [[0.1501641447784846]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.796078431372549]], [[0.6901960784313725]], [[0.7529411764705882]]], "mean": [[[0.32916007761437904]], [[0.420014783496732]], [[0.48261031454248365]]], "std": [[[0.1465088654840297]], [[0.12174369882348592]], [[0.15294125026024744]]], "count": [100]}}}
+{"episode_index": 44, "stats": {"observation.state": {"min": [-0.01253232080489397, -0.042903535068035126, -0.024735422804951668, -2.8373823165893555, -0.004502933006733656, 2.500838041305542, 0.7409999966621399, 0.0], "max": [-5.142261215951294e-05, 0.36644476652145386, 0.007251833099871874, -2.3105342388153076, 0.03535439446568489, 2.9770655632019043, 0.7932651042938232, 0.47733569145202637], "mean": [-0.006096522323787212, 0.20108892023563385, -0.010277745313942432, -2.522486448287964, 0.0010552534367889166, 2.7364847660064697, 0.7702929377555847, 0.10266384482383728], "std": [0.0035456574987620115, 0.13882090151309967, 0.013957211747765541, 0.23048777878284454, 0.009586936794221401, 0.15327617526054382, 0.016626158729195595, 0.19005420804023743], "count": [236]}, "observation.joint_position": {"min": [-0.01253232080489397, -0.042903535068035126, -0.024735422804951668, -2.8373823165893555, -0.004502933006733656, 2.500838041305542, 0.7409999966621399], "max": [-5.142261215951294e-05, 0.36644476652145386, 0.007251833099871874, -2.3105342388153076, 0.03535439446568489, 2.9770655632019043, 0.7932651042938232], "mean": [-0.006096522323787212, 0.20108892023563385, -0.010277745313942432, -2.522486448287964, 0.0010552534367889166, 2.7364847660064697, 0.7702929377555847], "std": [0.0035456574987620115, 0.13882090151309967, 0.013957211747765541, 0.23048777878284454, 0.009586936794221401, 0.15327617526054382, 0.016626158729195595], "count": [236]}, "observation.eef_pose_quaternion": {"min": [0.3685356080532074, -0.017312103882431984, 0.18252111971378326, 0.9992939829826355, -0.006509698461741209, -0.015001860447227955, -0.010780969634652138], "max": [0.5235235691070557, 0.002772148698568344, 0.2634410262107849, 0.9999986290931702, 0.0028864846099168062, 0.03757011517882347, 0.004862320609390736], "mean": [0.46141064167022705, -0.008801909163594246, 0.20245571434497833, 0.9998002648353577, -0.0006932742544449866, 0.006430303677916527, 0.0012952113756909966], "std": [0.06723015755414963, 0.00874119158834219, 0.021607622504234314, 0.00021365660359151661, 0.0015712209278717637, 0.018364258110523224, 0.00376312667503953], "count": [236]}, "observation.eef_pose_rotvec": {"min": [0.3685356080532074, -0.017312103882431984, 0.18252111971378326, -3.141350269317627, -0.020439868792891502, -0.11802931874990463], "max": [0.5235235691070557, 0.002772148698568344, 0.2634410262107849, 3.1408684253692627, 0.019118094816803932, 0.10994347184896469], "mean": [0.46141064167022705, -0.008801909163594246, 0.20245571434497833, 1.7276270389556885, -0.002312615979462862, 0.007267187349498272], "std": [0.06723015755414963, 0.00874119158834219, 0.021607622504234314, 2.616270065307617, 0.004863632842898369, 0.0606682188808918], "count": [236]}, "observation.eef_rotation_matrix": {"min": [0.9971769452095032, -0.01303972490131855, -0.030004195868968964, -0.012996353209018707, -1.0, -0.009707126766443253, -0.029996231198310852, -0.021637016907334328, -0.9999950528144836], "max": [0.9999993443489075, 0.005509045906364918, 0.07508718222379684, 0.006035295780748129, -0.9997513890266418, 0.02148006297647953, 0.07508718222379684, 0.009741394780576229, -0.9971769452095032], "mean": [0.9992368817329407, -0.001369153498671949, 0.012842761352658272, -0.0014038309454917908, -0.9999637007713318, -0.002593950368463993, 0.01285879872739315, 0.0025868513621389866, -0.9992108345031738], "std": [0.0008735737064853311, 0.003107946366071701, 0.036720022559165955, 0.00317775527946651, 5.196773781790398e-05, 0.007506709545850754, 0.036707136780023575, 0.007544697728008032, 0.0008573739905841649], "count": [236]}, "observation.gripper": {"min": [0.0], "max": [0.47733569145202637], "mean": [0.10266392678022385], "std": [0.1900540590286255], "count": [236]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019093792885541916, 0.019094318151474], "mean": [0.004106556996703148, 0.004106555134057999], "std": [0.0076021477580070496, 0.0076021552085876465], "count": [236]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818685561418533], "mean": [0.008213113993406296], "std": [0.015204324387013912], "count": [236]}, "timestamp": {"min": [0.0], "max": [3.9166666666666665], "mean": [1.9583333333333333], "std": [1.1354453360294856], "count": [236]}, "frame_index": {"min": [0], "max": [235], "mean": [117.5], "std": [68.12672016176913], "count": [236]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [236]}, "index": {"min": [10340], "max": [10575], "mean": [10457.5], "std": [68.12672016176913], "count": [236]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [236]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6266429547930283]], [[0.6012145669934641]], [[0.5719466367102396]]], "std": [[[0.185668823087537]], [[0.19197181242676337]], [[0.2009065418215329]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9764705882352941]], [[0.9529411764705882]], [[0.9686274509803922]]], "mean": [[[0.5017060566448802]], [[0.4769146405228758]], [[0.4486149346405229]]], "std": [[[0.18390046872988997]], [[0.18535375873356982]], [[0.18971903458067185]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7137254901960784]], [[0.6901960784313725]], [[0.7411764705882353]]], "mean": [[[0.33308916258169935]], [[0.407870504493464]], [[0.48178997753267977]]], "std": [[[0.14700062668283462]], [[0.11596024103753855]], [[0.15001287913984382]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7686274509803922]], [[0.6862745098039216]], [[0.7568627450980392]]], "mean": [[[0.32996612336601305]], [[0.419347391748366]], [[0.48257215277777776]]], "std": [[[0.14296976139384113]], [[0.12279549025176431]], [[0.1528685852581439]]], "count": [100]}}}
+{"episode_index": 45, "stats": {"observation.state": {"min": [-0.04197422415018082, 0.09600674360990524, -0.029539063572883606, -2.611553430557251, -0.0030384273268282413, 2.487730026245117, 0.7090075612068176, 3.9151810682369614e-09], "max": [-0.010781689547002316, 0.39931491017341614, 0.000734347733668983, -2.2398624420166016, 0.03535441681742668, 2.733379364013672, 0.7409999966621399, 0.47733813524246216], "mean": [-0.02661203406751156, 0.2727760672569275, -0.02513270452618599, -2.386988639831543, 0.010303519666194916, 2.5913026332855225, 0.7229955792427063, 0.08757569640874863], "std": [0.009708017110824585, 0.1126992404460907, 0.0071782395243644714, 0.16651234030723572, 0.008534288965165615, 0.08285804092884064, 0.006219898350536823, 0.17805080115795135], "count": [214]}, "observation.joint_position": {"min": [-0.04197422415018082, 0.09600674360990524, -0.029539063572883606, -2.611553430557251, -0.0030384273268282413, 2.487730026245117, 0.7090075612068176], "max": [-0.010781689547002316, 0.39931491017341614, 0.000734347733668983, -2.2398624420166016, 0.03535441681742668, 2.733379364013672, 0.7409999966621399], "mean": [-0.02661203406751156, 0.2727760672569275, -0.02513270452618599, -2.386988639831543, 0.010303519666194916, 2.5913026332855225, 0.7229955792427063], "std": [0.009708017110824585, 0.1126992404460907, 0.0071782395243644714, 0.16651234030723572, 0.008534288965165615, 0.08285804092884064, 0.006219898350536823], "count": [214]}, "observation.eef_pose_quaternion": {"min": [0.42742177844047546, -0.030645551159977913, 0.1800953447818756, 0.9991807341575623, -0.0011294182622805238, -0.040463801473379135, -0.010781078599393368], "max": [0.5360603332519531, -0.005121870897710323, 0.263444185256958, 0.9998714923858643, 0.025759143754839897, -0.013410019688308239, 0.00011737085151253268], "mean": [0.49353811144828796, -0.02571830153465271, 0.19956772029399872, 0.9993777871131897, 0.0014494798379018903, -0.03416624292731285, -0.0011763294460251927], "std": [0.04825949668884277, 0.0059908730909228325, 0.02104879729449749, 0.0001899383496493101, 0.00464865704998374, 0.006900903768837452, 0.002223264193162322], "count": [214]}, "observation.eef_pose_rotvec": {"min": [0.42742177844047546, -0.030645551159977913, 0.1800953447818756, -3.1400699615478516, -0.08082567155361176, -0.1100241169333458], "max": [0.5360603332519531, -0.005121870897710323, 0.263444185256958, 3.1400465965270996, 0.0035480638034641743, 0.12706340849399567], "mean": [0.49353811144828796, -0.02571830153465271, 0.19956772029399872, -2.697101354598999, -0.004563311114907265, 0.0934981033205986], "std": [0.04825949668884277, 0.0059908730909228325, 0.02104879729449749, 1.6025598049163818, 0.014582088217139244, 0.056904442608356476], "count": [214]}, "observation.eef_rotation_matrix": {"min": [0.9967253804206848, -0.002260780893266201, -0.08086130023002625, -0.0022544078528881073, -1.0, -0.00022933508444111794, -0.08086131513118744, -0.021637244150042534, -0.9994911551475525], "max": [0.9996206164360046, 0.051364291459321976, -0.026880981400609016, 0.0515926331281662, -0.9986655116081238, 0.021480277180671692, -0.026751143857836723, 0.00023993675131350756, -0.9967243671417236], "mean": [0.9975227117538452, 0.002838970860466361, -0.06829486042261124, 0.002955645089969039, -0.9999405145645142, 0.0022723793517798185, -0.06828002631664276, -0.0024309672880917788, -0.997557520866394], "std": [0.0007882787613198161, 0.009274009615182877, 0.013771380297839642, 0.009308618493378162, 0.00020992913050577044, 0.0044218855910003185, 0.013797024264931679, 0.004486238583922386, 0.0007779577863402665], "count": [214]}, "observation.gripper": {"min": [3.9151810682369614e-09], "max": [0.47733813524246216], "mean": [0.08757570385932922], "std": [0.17805083096027374], "count": [214]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019097600132226944, 0.01909608207643032], "mean": [0.003503071377053857, 0.003502984531223774], "std": [0.007122104521840811, 0.007121956441551447], "count": [214]}, "observation.gripper_width_m": {"min": [3.1321448212828784e-10], "max": [0.03818704932928085], "mean": [0.007006057538092136], "std": [0.014244066551327705], "count": [214]}, "timestamp": {"min": [0.0], "max": [3.55], "mean": [1.7750000000000001], "std": [1.0295967387499072], "count": [214]}, "frame_index": {"min": [0], "max": [213], "mean": [106.5], "std": [61.775804324994425], "count": [214]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [214]}, "index": {"min": [10576], "max": [10789], "mean": [10682.5], "std": [61.775804324994425], "count": [214]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [214]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6249256563180828]], [[0.6026920452069716]], [[0.5745574019607843]]], "std": [[[0.1893040508366273]], [[0.19325879990574718]], [[0.20313549982678558]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9490196078431372]], [[0.9333333333333333]], [[0.9490196078431372]]], "mean": [[[0.5021841557734205]], [[0.4721957897603486]], [[0.44405253267973854]]], "std": [[[0.1826493001419554]], [[0.18521316097872417]], [[0.18934409044670064]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7098039215686275]], [[0.6862745098039216]], [[0.7843137254901961]]], "mean": [[[0.33210541258169934]], [[0.40490279411764707]], [[0.480313029003268]]], "std": [[[0.14701536028509107]], [[0.11512206362023435]], [[0.15199173462691973]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.788235294117647]], [[0.7098039215686275]], [[0.796078431372549]]], "mean": [[[0.32800683823529414]], [[0.4156210477941176]], [[0.4795606658496732]]], "std": [[[0.14520814402216348]], [[0.12088739539640232]], [[0.15425099766828637]]], "count": [100]}}}
+{"episode_index": 46, "stats": {"observation.state": {"min": [-0.02938574180006981, 0.07219750434160233, 0.0007333692628890276, -2.6280713081359863, -0.04117284715175629, 2.5008320808410645, 0.7409999966621399, 6.476278541223124e-11], "max": [0.01226131897419691, 0.31571438908576965, 0.032601140439510345, -2.3795418739318848, 0.03535445034503937, 2.7569355964660645, 0.852414608001709, 0.47733625769615173], "mean": [-0.004566672723740339, 0.21671222150325775, 0.022115230560302734, -2.4748153686523438, -0.022390898317098618, 2.6418185234069824, 0.8215104341506958, 0.09374331682920456], "std": [0.016664650291204453, 0.08126869797706604, 0.006109452806413174, 0.10770275443792343, 0.02056276798248291, 0.06897877901792526, 0.033122673630714417, 0.1828179657459259], "count": [205]}, "observation.joint_position": {"min": [-0.02938574180006981, 0.07219750434160233, 0.0007333692628890276, -2.6280713081359863, -0.04117284715175629, 2.5008320808410645, 0.7409999966621399], "max": [0.01226131897419691, 0.31571438908576965, 0.032601140439510345, -2.3795418739318848, 0.03535445034503937, 2.7569355964660645, 0.852414608001709], "mean": [-0.004566672723740339, 0.21671222150325775, 0.022115230560302734, -2.4748153686523438, -0.022390898317098618, 2.6418185234069824, 0.8215104341506958], "std": [0.016664650291204453, 0.08126869797706604, 0.006109452806413174, 0.10770275443792343, 0.02056276798248291, 0.06897877901792526, 0.033122673630714417], "count": [205]}, "observation.eef_pose_quaternion": {"min": [0.42689672112464905, -0.00512220524251461, 0.1835307478904724, 0.9995061159133911, -0.003038387279957533, -0.03042546659708023, -0.010781226679682732], "max": [0.4985123872756958, 0.0193060003221035, 0.263443261384964, 0.9999426007270813, 0.009270215407013893, -0.010542656295001507, 0.007870552130043507], "mean": [0.4712364375591278, 0.009617098607122898, 0.20252235233783722, 0.999660074710846, 0.00045557337580248713, -0.02459660731256008, 0.0035439529456198215], "std": [0.0313650406897068, 0.008009561337530613, 0.020194794982671738, 0.00013840822794009, 0.0020396250765770674, 0.00560420798137784, 0.005154551938176155], "count": [205]}, "observation.eef_pose_rotvec": {"min": [0.42689672112464905, -0.00512220524251461, 0.1835307478904724, -3.1409409046173096, -0.011700118891894817, -0.09511000663042068], "max": [0.4985123872756958, 0.0193060003221035, 0.263443261384964, 3.1409459114074707, 0.029093779623508453, 0.0764361247420311], "mean": [0.4712364375591278, 0.009617098607122898, 0.20252235233783722, 1.631961703300476, -0.00029607259784825146, -0.0477568618953228], "std": [0.0313650406897068, 0.008009561337530613, 0.020194794982671738, 2.6715028285980225, 0.006544044241309166, 0.06287050247192383], "count": [205]}, "observation.eef_rotation_matrix": {"min": [0.9981464147567749, -0.006048811133950949, -0.06082800030708313, -0.0061030881479382515, -1.0, -0.015709472820162773, -0.060813769698143005, -0.02163754403591156, -0.9997771978378296], "max": [0.9997715950012207, 0.018592603504657745, -0.021085822954773903, 0.01848091185092926, -0.9997513890266418, 0.021480565890669823, -0.021082395687699318, 0.015757936984300613, -0.9980255365371704], "mean": [0.9987183213233948, 0.0011359743075445294, -0.04918002709746361, 0.0006860556895844638, -0.9999135732650757, -0.007098328322172165, -0.049169935286045074, 0.007070240564644337, -0.9986489415168762], "std": [0.0005162082961760461, 0.003985353745520115, 0.011194469407200813, 0.00418529286980629, 6.635078170802444e-05, 0.010276232846081257, 0.011202415451407433, 0.010335027240216732, 0.0005615019472315907], "count": [205]}, "observation.gripper": {"min": [6.476278541223124e-11], "max": [0.47733625769615173], "mean": [0.09374341368675232], "std": [0.18281808495521545], "count": [205]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909465715289116, 0.01909494213759899], "mean": [0.0037497261073440313, 0.0037497442681342363], "std": [0.007312730420380831, 0.007312694564461708], "count": [205]}, "observation.gripper_width_m": {"min": [5.181022711547856e-12], "max": [0.038186900317668915], "mean": [0.0074994731694459915], "std": [0.014625445939600468], "count": [205]}, "timestamp": {"min": [0.0], "max": [3.4], "mean": [1.7], "std": [0.9862949750342327], "count": [205]}, "frame_index": {"min": [0], "max": [204], "mean": [102.0], "std": [59.177698502053964], "count": [205]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [205]}, "index": {"min": [10790], "max": [10994], "mean": [10892.0], "std": [59.177698502053964], "count": [205]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [205]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6237716149237473]], [[0.5989127287581699]], [[0.5682051089324619]]], "std": [[[0.1800591505782839]], [[0.19121736368924075]], [[0.19995227237890553]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9529411764705882]], [[0.9529411764705882]]], "mean": [[[0.5069355392156862]], [[0.4659818246187364]], [[0.43785074618736386]]], "std": [[[0.19018869594711874]], [[0.18924404361278346]], [[0.19401948103187597]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6745098039215687]], [[0.6784313725490196]], [[0.7607843137254902]]], "mean": [[[0.3319892626633987]], [[0.4071720016339869]], [[0.4811706699346405]]], "std": [[[0.14641685214004846]], [[0.11566733926071703]], [[0.1513668956737393]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6823529411764706]], [[0.6941176470588235]], [[0.788235294117647]]], "mean": [[[0.32885256944444446]], [[0.4203938153594771]], [[0.48242963643790854]]], "std": [[[0.14396329569860097]], [[0.12275130699512442]], [[0.15443304624645962]]], "count": [100]}}}
+{"episode_index": 47, "stats": {"observation.state": {"min": [-0.01080902386456728, 0.08257132768630981, -0.00046551908599212766, -2.7139604091644287, -0.02172829955816269, 2.500859022140503, 0.7409999966621399, 1.9722719551279466e-12], "max": [0.06947503238916397, 0.3723282814025879, 0.014180525206029415, -2.3253657817840576, 0.035354506224393845, 2.9334280490875244, 0.8741454482078552, 0.47733718156814575], "mean": [0.05091153457760811, 0.24272295832633972, 0.003038481343537569, -2.4776039123535156, -0.00673005823045969, 2.7504096031188965, 0.8451219797134399, 0.09879355877637863], "std": [0.016881795600056648, 0.10516350716352463, 0.002528976183384657, 0.16936379671096802, 0.012478481978178024, 0.11659789830446243, 0.029360733926296234, 0.18765191733837128], "count": [238]}, "observation.joint_position": {"min": [-0.01080902386456728, 0.08257132768630981, -0.00046551908599212766, -2.7139604091644287, -0.02172829955816269, 2.500859022140503, 0.7409999966621399], "max": [0.06947503238916397, 0.3723282814025879, 0.014180525206029415, -2.3253657817840576, 0.035354506224393845, 2.9334280490875244, 0.8741454482078552], "mean": [0.05091153457760811, 0.24272295832633972, 0.003038481343537569, -2.4776039123535156, -0.00673005823045969, 2.7504096031188965, 0.8451219797134399], "std": [0.016881795600056648, 0.10516350716352463, 0.002528976183384657, 0.16936379671096802, 0.012478481978178024, 0.11659789830446243, 0.029360733926296234], "count": [238]}, "observation.eef_pose_quaternion": {"min": [0.4063684940338135, -0.005122212693095207, 0.17926302552223206, 0.9992597103118896, -0.001440575928427279, -0.013816908933222294, -0.010780902579426765], "max": [0.5206484794616699, 0.032645560801029205, 0.26343750953674316, 0.9999896287918091, 0.00758646335452795, 0.038442231714725494, 0.0007030272972770035], "mean": [0.47678637504577637, 0.025854643434286118, 0.19884860515594482, 0.9998018145561218, 0.00036654164432547987, 0.01509373914450407, -0.0006080574821680784], "std": [0.050100862979888916, 0.007657675538212061, 0.020761283114552498, 0.00020933801715727895, 0.0016556077171117067, 0.012684742920100689, 0.0024040699936449528], "count": [238]}, "observation.eef_pose_rotvec": {"min": [0.4063684940338135, -0.005122212693095207, 0.17926302552223206, -3.141026735305786, -0.023823244497179985, -0.12069929391145706], "max": [0.5206484794616699, 0.032645560801029205, 0.26343750953674316, 3.14131760597229, 0.00545839499682188, 0.09517499059438705], "mean": [0.47678637504577637, 0.025854643434286118, 0.19884860515594482, 0.7142762541770935, -0.002140477066859603, -0.001696488936431706], "std": [0.050100862979888916, 0.007657675538212061, 0.020761283114552498, 3.0569043159484863, 0.004868968389928341, 0.061899296939373016], "count": [238]}, "observation.eef_rotation_matrix": {"min": [0.997042179107666, -0.002902475418522954, -0.027690686285495758, -0.0028584676329046488, -1.0, -0.0014458050718531013, -0.027568239718675613, -0.021636873483657837, -0.9999984502792358], "max": [0.9999675154685974, 0.015169963240623474, 0.07682564854621887, 0.015174958854913712, -0.9997513890266418, 0.02147994562983513, 0.07682949304580688, 0.0013657979434356093, -0.997042715549469], "mean": [0.9992161989212036, 0.0007199415122158825, 0.030172541737556458, 0.0007461028289981186, -0.9999821782112122, 0.0012109396047890186, 0.030181219801306725, -0.0012208940461277962, -0.999209463596344], "std": [0.0008424245752394199, 0.0032933736220002174, 0.02536388672888279, 0.003329484025016427, 5.330718704499304e-05, 0.00479448027908802, 0.025348080322146416, 0.004820820409804583, 0.000840354070533067], "count": [238]}, "observation.gripper": {"min": [1.9722719551279466e-12], "max": [0.47733718156814575], "mean": [0.09879365563392639], "std": [0.18765199184417725], "count": [238]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909557543694973, 0.019096339121460915], "mean": [0.00395175302401185, 0.003951735328882933], "std": [0.007506066467612982, 0.00750610651448369], "count": [238]}, "observation.gripper_width_m": {"min": [1.5778174665241618e-13], "max": [0.038186974823474884], "mean": [0.007903492078185081], "std": [0.015012159012258053], "count": [238]}, "timestamp": {"min": [0.0], "max": [3.95], "mean": [1.9749999999999999], "std": [1.145067926175367], "count": [238]}, "frame_index": {"min": [0], "max": [237], "mean": [118.5], "std": [68.70407557052202], "count": [238]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [238]}, "index": {"min": [10995], "max": [11232], "mean": [11113.5], "std": [68.70407557052202], "count": [238]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [238]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6274745261437908]], [[0.6025325953159041]], [[0.573280234204793]]], "std": [[[0.18486935811167715]], [[0.1913475593872483]], [[0.2000176056796803]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9568627450980393]], [[0.9294117647058824]], [[0.9411764705882353]]], "mean": [[[0.5005030201525055]], [[0.47211005991285404]], [[0.4435128131808279]]], "std": [[[0.18480741613987794]], [[0.18696282619202062]], [[0.1912723949113048]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7647058823529411]], [[0.6901960784313725]], [[0.7725490196078432]]], "mean": [[[0.3335542075163399]], [[0.4055616666666667]], [[0.4800941544117647]]], "std": [[[0.14967140728477907]], [[0.11551954518615017]], [[0.1503025966279667]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7607843137254902]], [[0.6941176470588235]], [[0.7725490196078432]]], "mean": [[[0.327735216503268]], [[0.41684444648692814]], [[0.4815379820261438]]], "std": [[[0.1453668660299158]], [[0.12148815959695088]], [[0.15345803123948948]]], "count": [100]}}}
+{"episode_index": 48, "stats": {"observation.state": {"min": [-0.04881588742136955, 0.029386159032583237, -0.006278635933995247, -2.7677462100982666, -0.016801660880446434, 2.500805616378784, 0.7116811275482178, 0.0], "max": [0.00027937296545132995, 0.3792959749698639, 0.01191069558262825, -2.3683643341064453, 0.03535626828670502, 3.0467941761016846, 0.805916965007782, 0.47733640670776367], "mean": [-0.026673030108213425, 0.24056671559810638, 0.003760731080546975, -2.522327184677124, 0.01313047856092453, 2.888514518737793, 0.7480300068855286, 0.09862031042575836], "std": [0.02128743566572666, 0.1209040954709053, 0.003850150154903531, 0.17544911801815033, 0.019197246059775352, 0.12267255038022995, 0.04047328978776932, 0.18709281086921692], "count": [236]}, "observation.joint_position": {"min": [-0.04881588742136955, 0.029386159032583237, -0.006278635933995247, -2.7677462100982666, -0.016801660880446434, 2.500805616378784, 0.7116811275482178], "max": [0.00027937296545132995, 0.3792959749698639, 0.01191069558262825, -2.3683643341064453, 0.03535626828670502, 3.0467941761016846, 0.805916965007782], "mean": [-0.026673030108213425, 0.24056671559810638, 0.003760731080546975, -2.522327184677124, 0.01313047856092453, 2.888514518737793, 0.7480300068855286], "std": [0.02128743566572666, 0.1209040954709053, 0.003850150154903531, 0.17544911801815033, 0.019197246059775352, 0.12267255038022995, 0.04047328978776932], "count": [236]}, "observation.eef_pose_quaternion": {"min": [0.3981491029262543, -0.025053394958376884, 0.179636150598526, 0.9967151284217834, -0.000540817272849381, -0.013823027722537518, -0.010782330296933651], "max": [0.5213863849639893, 0.004637700039893389, 0.2634534239768982, 0.9999409317970276, 0.00893559493124485, 0.08098035305738449, 0.0009592774440534413], "mean": [0.47212207317352295, -0.012584887444972992, 0.1984238475561142, 0.9977812170982361, 0.0011936795199289918, 0.0628584772348404, -0.0010247899917885661], "std": [0.05424978956580162, 0.013328743167221546, 0.02228976972401142, 0.0007388070807792246, 0.0019884714856743813, 0.021623006090521812, 0.0023978506214916706], "count": [236]}, "observation.eef_pose_rotvec": {"min": [0.3981491029262543, -0.025053394958376884, 0.179636150598526, -3.136725425720215, -0.027976443991065025, -0.23583601415157318], "max": [0.5213863849639893, 0.004637700039893389, 0.2634534239768982, 3.135995864868164, 0.023265669122338295, 0.25425252318382263], "mean": [0.47212207317352295, -0.012584887444972992, 0.1984238475561142, -0.7947987914085388, -0.0016833527479320765, -0.04344520345330238], "std": [0.05424978956580162, 0.013328743167221546, 0.02228976972401142, 3.029900550842285, 0.007070723455399275, 0.20419488847255707], "count": [236]}, "observation.eef_rotation_matrix": {"min": [0.9868842959403992, -0.0012090414529666305, -0.027702929452061653, -0.0009473562822677195, -1.0, -0.0019346637418493629, -0.027580466121435165, -0.021639760583639145, -0.9999237060546875], "max": [0.9998373985290527, 0.017902938649058342, 0.16142839193344116, 0.01783733442425728, -0.9997473955154419, 0.021482763811945915, 0.1614290475845337, 0.0020703491754829884, -0.9868825078010559], "mean": [0.9911519885063171, 0.0024176528677344322, 0.12540064752101898, 0.002350105904042721, -0.9999765157699585, 0.002144873607903719, 0.12541472911834717, -0.0019505738746374846, -0.9911490082740784], "std": [0.0029871193692088127, 0.003948012366890907, 0.04315686225891113, 0.004001443739980459, 6.508284423034638e-05, 0.004751340951770544, 0.043114617466926575, 0.004844966344535351, 0.0029686172492802143], "count": [236]}, "observation.gripper": {"min": [0.0], "max": [0.47733640670776367], "mean": [0.09862042963504791], "std": [0.1870928704738617], "count": [236]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094718620181084, 0.019094791263341904], "mean": [0.003944823984056711, 0.003944807220250368], "std": [0.0074837179854512215, 0.0074837058782577515], "count": [236]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818691149353981], "mean": [0.007889633998274803], "std": [0.014967427588999271], "count": [236]}, "timestamp": {"min": [0.0], "max": [3.9166666666666665], "mean": [1.9583333333333333], "std": [1.1354453360294856], "count": [236]}, "frame_index": {"min": [0], "max": [235], "mean": [117.5], "std": [68.12672016176913], "count": [236]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [236]}, "index": {"min": [11233], "max": [11468], "mean": [11350.5], "std": [68.12672016176913], "count": [236]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [236]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.627015119825708]], [[0.6024667783224401]], [[0.574348316993464]]], "std": [[[0.19080161012762933]], [[0.19411589605456728]], [[0.20349360924660295]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9372549019607843]], [[0.9450980392156862]]], "mean": [[[0.5029215767973856]], [[0.4792072848583878]], [[0.449801947167756]]], "std": [[[0.18390045546631703]], [[0.18644197501450763]], [[0.1911479183647562]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.788235294117647]], [[0.6823529411764706]], [[0.7843137254901961]]], "mean": [[[0.3312471017156863]], [[0.40483170343137254]], [[0.4826893035130719]]], "std": [[[0.14859773572694995]], [[0.11544104293232468]], [[0.15086826415602836]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.796078431372549]], [[0.6941176470588235]], [[0.7529411764705882]]], "mean": [[[0.330621766748366]], [[0.41439274509803925]], [[0.478921358251634]]], "std": [[[0.14981741478494945]], [[0.12015341487226212]], [[0.1509073621957054]]], "count": [100]}}}
+{"episode_index": 49, "stats": {"observation.state": {"min": [-0.0939224362373352, 0.04984614625573158, -0.0007465780363418162, -2.7544615268707275, -0.011964104138314724, 2.500838041305542, 0.6971683502197266, 0.0], "max": [-0.010808364488184452, 0.3560335636138916, 0.03769692778587341, -2.3724348545074463, 0.035354651510715485, 3.0512211322784424, 0.7822740077972412, 0.47733598947525024], "mean": [-0.0486314557492733, 0.2281256467103958, 0.016676638275384903, -2.524549722671509, 0.006791043095290661, 2.834904909133911, 0.7455283403396606, 0.09697611629962921], "std": [0.03334368020296097, 0.10185003280639648, 0.013161207549273968, 0.16380329430103302, 0.01839686930179596, 0.1447344720363617, 0.03652992099523544, 0.18595615029335022], "count": [240]}, "observation.joint_position": {"min": [-0.0939224362373352, 0.04984614625573158, -0.0007465780363418162, -2.7544615268707275, -0.011964104138314724, 2.500838041305542, 0.6971683502197266], "max": [-0.010808364488184452, 0.3560335636138916, 0.03769692778587341, -2.3724348545074463, 0.035354651510715485, 3.0512211322784424, 0.7822740077972412], "mean": [-0.0486314557492733, 0.2281256467103958, 0.016676638275384903, -2.524549722671509, 0.006791043095290661, 2.834904909133911, 0.7455283403396606], "std": [0.03334368020296097, 0.10185003280639648, 0.013161207549273968, 0.16380329430103302, 0.01839686930179596, 0.1447344720363617, 0.03652992099523544], "count": [240]}, "observation.eef_pose_quaternion": {"min": [0.3997400403022766, -0.02632840909063816, 0.17768879234790802, 0.9972327351570129, -0.0033281962387263775, -0.013820558786392212, -0.01078128907829523], "max": [0.5107791423797607, -0.00512195099145174, 0.26344025135040283, 0.9999735355377197, 0.003872922621667385, 0.07428080588579178, 0.0017367127584293485], "mean": [0.4678618609905243, -0.01421643141657114, 0.19908028841018677, 0.9988644123077393, 0.0004087233101017773, 0.04118560254573822, -9.629657142795622e-05], "std": [0.04747166857123375, 0.008794394321739674, 0.022171756252646446, 0.0009657084592618048, 0.0012395932571962476, 0.02372058667242527, 0.002745945006608963], "count": [240]}, "observation.eef_pose_rotvec": {"min": [0.3997400403022766, -0.02632840909063816, 0.17768879234790802, -3.1375339031219482, -0.012163065373897552, -0.23317338526248932], "max": [0.5107791423797607, -0.00512195099145174, 0.26344025135040283, 3.138817310333252, 0.010436215437948704, 0.2268669307231903], "mean": [0.4678618609905243, -0.01421643141657114, 0.19908028841018677, 0.4465058147907257, -0.000543884641956538, -0.01254121121019125], "std": [0.04747166857123375, 0.008794394321739674, 0.022171756252646446, 3.1030116081237793, 0.0040560513734817505, 0.14873643219470978], "count": [240]}, "observation.eef_rotation_matrix": {"min": [0.988949716091156, -0.006467054132372141, -0.027697985991835594, -0.006839004810899496, -1.0, -0.003459312254562974, -0.02757553569972515, -0.02163766510784626, -0.9998999834060669], "max": [0.9999949932098389, 0.007798595819622278, 0.14814361929893494, 0.0076589579693973064, -0.9997513890266418, 0.02148069441318512, 0.14815741777420044, 0.003485289169475436, -0.9889615774154663], "mean": [0.9954785704612732, 0.0007850247202441096, 0.08223208039999008, 0.0008473811903968453, -0.9999837875366211, 0.0002257756859762594, 0.0822366401553154, -0.00015896602417342365, -0.9954667687416077], "std": [0.0038726096972823143, 0.002473063301295042, 0.0473097525537014, 0.0024810899049043655, 5.0817954615922645e-05, 0.005484959110617638, 0.047300346195697784, 0.0055001829750835896, 0.003856313182041049], "count": [240]}, "observation.gripper": {"min": [0.0], "max": [0.47733598947525024], "mean": [0.09697619080543518], "std": [0.18595629930496216], "count": [240]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909496635198593, 0.01909518614411354], "mean": [0.003879065392538905, 0.0038790269754827023], "std": [0.007438261993229389, 0.007438237313181162], "count": [240]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186877965927124], "mean": [0.007758095394819975], "std": [0.014876504428684711], "count": [240]}, "timestamp": {"min": [0.0], "max": [3.9833333333333334], "mean": [1.9916666666666667], "std": [1.154690514893573], "count": [240]}, "frame_index": {"min": [0], "max": [239], "mean": [119.5], "std": [69.2814308936144], "count": [240]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [240]}, "index": {"min": [11469], "max": [11708], "mean": [11588.5], "std": [69.2814308936144], "count": [240]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [240]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.625773779956427]], [[0.6012017102396514]], [[0.5725300081699346]]], "std": [[[0.18509616242363033]], [[0.19157758455475338]], [[0.20075960802394233]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9764705882352941]], [[0.9372549019607843]], [[0.9568627450980393]]], "mean": [[[0.5068353322440087]], [[0.4732133469498911]], [[0.4441861737472767]]], "std": [[[0.18743596997555184]], [[0.18831682578498368]], [[0.1929181416307327]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8274509803921568]], [[0.6862745098039216]], [[0.7843137254901961]]], "mean": [[[0.33072607230392154]], [[0.40903184640522877]], [[0.4843423937908497]]], "std": [[[0.1465776164535098]], [[0.11635166178100564]], [[0.15087775735968498]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8156862745098039]], [[0.6941176470588235]], [[0.7607843137254902]]], "mean": [[[0.3311620077614379]], [[0.41855551674836605]], [[0.48224389910130716]]], "std": [[[0.14689107190866463]], [[0.12088148371360323]], [[0.15156161405340987]]], "count": [100]}}}
+{"episode_index": 50, "stats": {"observation.state": {"min": [-0.048169054090976715, 0.07347477227449417, -0.03121429868042469, -2.6589572429656982, -0.005293460097163916, 2.488311529159546, 0.7127296924591064, 1.7451341483010196e-09], "max": [0.04187929257750511, 0.40441185235977173, 0.0022432117257267237, -2.2376763820648193, 0.035355497151613235, 2.783446788787842, 0.8207927346229553, 0.4773377478122711], "mean": [0.006893274374306202, 0.2658935785293579, -0.013288870453834534, -2.3988776206970215, 0.007352303713560104, 2.6135735511779785, 0.7706913948059082, 0.09516406059265137], "std": [0.038092467933893204, 0.12325907498598099, 0.008734101429581642, 0.18527638912200928, 0.007729582488536835, 0.10105150192975998, 0.045580655336380005, 0.1843114048242569], "count": [217]}, "observation.joint_position": {"min": [-0.048169054090976715, 0.07347477227449417, -0.03121429868042469, -2.6589572429656982, -0.005293460097163916, 2.488311529159546, 0.7127296924591064], "max": [0.04187929257750511, 0.40441185235977173, 0.0022432117257267237, -2.2376763820648193, 0.035355497151613235, 2.783446788787842, 0.8207927346229553], "mean": [0.006893274374306202, 0.2658935785293579, -0.013288870453834534, -2.3988776206970215, 0.007352303713560104, 2.6135735511779785, 0.7706913948059082], "std": [0.038092467933893204, 0.12325907498598099, 0.008734101429581642, 0.18527638912200928, 0.007729582488536835, 0.10105150192975998, 0.045580655336380005], "count": [217]}, "observation.eef_pose_quaternion": {"min": [0.4147392213344574, -0.033419977873563766, 0.17967134714126587, 0.9992823600769043, -0.005735386628657579, -0.03786586597561836, -0.01078166626393795], "max": [0.539258599281311, 0.017843706533312798, 0.26344460248947144, 0.9999721646308899, 0.028649693354964256, 0.009283292107284069, 0.002245999174192548], "mean": [0.4917961359024048, -0.0010672189528122544, 0.20078851282596588, 0.9995863437652588, 0.0011916100047528744, -0.02557229809463024, -0.000329600996337831], "std": [0.0534590482711792, 0.020837610587477684, 0.023681409657001495, 0.00022334694222081453, 0.005472125485539436, 0.011602087877690792, 0.002665808657184243], "count": [217]}, "observation.eef_pose_rotvec": {"min": [0.4147392213344574, -0.033419977873563766, 0.17967134714126587, -3.1410138607025146, -0.08702193945646286, -0.11888988316059113], "max": [0.539258599281311, 0.017843706533312798, 0.26344460248947144, 3.141021251678467, 0.08999602496623993, 0.08233825862407684], "mean": [0.4917961359024048, -0.0010672189528122544, 0.20078851282596588, 0.8829008340835571, -0.0006596494349651039, -0.04303093999624252], "std": [0.0534590482711792, 0.020837610587477684, 0.023681409657001495, 3.01100754737854, 0.017565572634339333, 0.0769638940691948], "count": [217]}, "observation.eef_rotation_matrix": {"min": [0.9971321225166321, -0.01147692184895277, -0.07567796856164932, -0.011458244174718857, -1.0, -0.0044193086214363575, -0.0756767988204956, -0.021638406440615654, -0.9999943971633911], "max": [0.9999719858169556, 0.05727086961269379, 0.018611373379826546, 0.0572766549885273, -0.9983583092689514, 0.021481463685631752, 0.01850537583231926, 0.0046395366080105305, -0.9971306920051575], "mean": [0.998360276222229, 0.002394238719716668, -0.05112312734127045, 0.0023714564740657806, -0.999923586845398, 0.0006880097789689898, -0.05111503228545189, -0.0006310221506282687, -0.9984087347984314], "std": [0.0009115345892496407, 0.010925707407295704, 0.02318326197564602, 0.010956124402582645, 0.0002592566597741097, 0.005301890429109335, 0.023189054802060127, 0.005361172836273909, 0.0009546699584461749], "count": [217]}, "observation.gripper": {"min": [1.7451341483010196e-09], "max": [0.4773377478122711], "mean": [0.09516412764787674], "std": [0.18431146442890167], "count": [217]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019097305834293365, 0.019096899777650833], "mean": [0.0038065845146775246, 0.0038065435364842415], "std": [0.007372526917606592, 0.007372391410171986], "count": [217]}, "observation.gripper_width_m": {"min": [1.3961072575785494e-10], "max": [0.038187019526958466], "mean": [0.007613129448145628], "std": [0.014744915999472141], "count": [217]}, "timestamp": {"min": [0.0], "max": [3.6], "mean": [1.8], "std": [1.044030650891055], "count": [217]}, "frame_index": {"min": [0], "max": [216], "mean": [108.0], "std": [62.6418390534633], "count": [217]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [217]}, "index": {"min": [11709], "max": [11925], "mean": [11817.0], "std": [62.6418390534633], "count": [217]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [217]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6301527450980392]], [[0.6017755991285403]], [[0.5730158496732026]]], "std": [[[0.18003676519252948]], [[0.1914348251761755]], [[0.20098890124610147]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9411764705882353]], [[0.9568627450980393]]], "mean": [[[0.5022792837690632]], [[0.47171915577342044]], [[0.4436369008714597]]], "std": [[[0.1824773415597126]], [[0.1856011529605167]], [[0.18964008305712846]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7529411764705882]], [[0.6901960784313725]], [[0.7764705882352941]]], "mean": [[[0.33301482843137253]], [[0.4060709599673203]], [[0.47966458333333334]]], "std": [[[0.14792100815490178]], [[0.11541502273806227]], [[0.15134533450144938]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7725490196078432]], [[0.6980392156862745]], [[0.792156862745098]]], "mean": [[[0.32706013071895423]], [[0.4176610682189542]], [[0.4808335702614379]]], "std": [[[0.14404635407558644]], [[0.12148337135093136]], [[0.1550130629707925]]], "count": [100]}}}
+{"episode_index": 51, "stats": {"observation.state": {"min": [-0.04139545559883118, 0.03175583854317665, -0.028853341937065125, -2.713209867477417, -0.008410761132836342, 2.4956276416778564, 0.7201244831085205, 0.0], "max": [0.012032141909003258, 0.43564531207084656, 0.0007344106561504304, -2.178006887435913, 0.035354457795619965, 2.7679216861724854, 0.7662712335586548, 0.4773360788822174], "mean": [-0.010368425399065018, 0.26520949602127075, -0.02187887392938137, -2.395336866378784, 0.009662296622991562, 2.5985708236694336, 0.7468162775039673, 0.08807352930307388], "std": [0.023467611521482468, 0.1510058492422104, 0.005810882896184921, 0.2385348081588745, 0.011225664988160133, 0.10319607704877853, 0.019024426117539406, 0.17903123795986176], "count": [248]}, "observation.joint_position": {"min": [-0.04139545559883118, 0.03175583854317665, -0.028853341937065125, -2.713209867477417, -0.008410761132836342, 2.4956276416778564, 0.7201244831085205], "max": [0.012032141909003258, 0.43564531207084656, 0.0007344106561504304, -2.178006887435913, 0.035354457795619965, 2.7679216861724854, 0.7662712335586548], "mean": [-0.010368425399065018, 0.26520949602127075, -0.02187887392938137, -2.395336866378784, 0.009662296622991562, 2.5985708236694336, 0.7468162775039673], "std": [0.023467611521482468, 0.1510058492422104, 0.005810882896184921, 0.2385348081588745, 0.011225664988160133, 0.10319607704877853, 0.019024426117539406], "count": [248]}, "observation.eef_pose_quaternion": {"min": [0.3948270082473755, -0.02782820351421833, 0.18084834516048431, 0.9987393617630005, -0.010431313887238503, -0.04955267906188965, -0.01078103668987751], "max": [0.5542753338813782, -0.005121946334838867, 0.2634398341178894, 0.999998152256012, 0.0028570652939379215, 0.012229712679982185, 0.0015852315118536353], "mean": [0.4908408224582672, -0.014271744526922703, 0.20045091211795807, 0.9994519352912903, -0.0004089809372089803, -0.03093515709042549, -0.001159830135293305], "std": [0.07076001167297363, 0.010013093240559101, 0.021386103704571724, 0.0002190347295254469, 0.002023896900936961, 0.011291822418570518, 0.002330085262656212], "count": [248]}, "observation.eef_pose_rotvec": {"min": [0.3948270082473755, -0.02782820351421833, 0.18084834516048431, -3.1413674354553223, -0.008914737030863762, -0.10718876868486404], "max": [0.5542753338813782, -0.005121946334838867, 0.2634398341178894, 3.1409683227539062, 0.03266448155045509, 0.15539780259132385], "mean": [0.4908408224582672, -0.014271744526922703, 0.20045091211795807, -1.390181303024292, 0.0017160027055069804, 0.05193471536040306], "std": [0.07076001167297363, 0.010013093240559101, 0.021386103704571724, 2.8123819828033447, 0.006235320586711168, 0.08940420299768448], "count": [248]}, "observation.eef_rotation_matrix": {"min": [0.994976818561554, -0.0211991798132658, -0.09893855452537537, -0.02049889788031578, -1.0, -0.003171453019604087, -0.09902235120534897, -0.02163715660572052, -0.9999947547912598], "max": [0.9999980330467224, 0.005418174900114536, 0.024459317326545715, 0.006008305121213198, -0.9997298717498779, 0.021480193361639977, 0.024455776438117027, 0.003169446485117078, -0.9950734376907349], "mean": [0.9978224635124207, -0.0008807085687294602, -0.061829399317502975, -0.0007535443874076009, -0.9999790191650391, 0.002359354170039296, -0.06183432415127754, -0.0022777921985834837, -0.99781733751297], "std": [0.0008953075739555061, 0.0040892623364925385, 0.022563209757208824, 0.0040018013678491116, 6.324842979665846e-05, 0.004690248519182205, 0.02257000282406807, 0.004632622003555298, 0.0008698875899426639], "count": [248]}, "observation.gripper": {"min": [0.0], "max": [0.4773360788822174], "mean": [0.08807356655597687], "std": [0.17903150618076324], "count": [248]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094819203019142, 0.019096720963716507], "mean": [0.003522943938151002, 0.003522939048707485], "std": [0.007161261048167944, 0.007161236833781004], "count": [248]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818688541650772], "mean": [0.007045886013656855], "std": [0.014322520233690739], "count": [248]}, "timestamp": {"min": [0.0], "max": [4.116666666666666], "mean": [2.0583333333333336], "std": [1.1931808561804684], "count": [248]}, "frame_index": {"min": [0], "max": [247], "mean": [123.5], "std": [71.5908513708281], "count": [248]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [248]}, "index": {"min": [11926], "max": [12173], "mean": [12049.5], "std": [71.5908513708281], "count": [248]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [248]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.63159026416122]], [[0.6045883687363834]], [[0.5761302069716775]]], "std": [[[0.18592756937042326]], [[0.19293849217276002]], [[0.2031436970453623]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9529411764705882]], [[0.9686274509803922]]], "mean": [[[0.5015393218954248]], [[0.4739850789760348]], [[0.44592343409586055]]], "std": [[[0.1821490957295424]], [[0.1846563120559494]], [[0.18869052195562921]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7176470588235294]], [[0.6862745098039216]], [[0.792156862745098]]], "mean": [[[0.3326237111928105]], [[0.40496367034313724]], [[0.4799351879084967]]], "std": [[[0.14730851330180858]], [[0.11523209939780041]], [[0.1518912619577106]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7843137254901961]], [[0.6980392156862745]], [[0.7843137254901961]]], "mean": [[[0.32790853553921573]], [[0.4154404370915033]], [[0.4797297508169935]]], "std": [[[0.14500829426912148]], [[0.12067356613052713]], [[0.15429254976158155]]], "count": [100]}}}
+{"episode_index": 52, "stats": {"observation.state": {"min": [-0.023125790059566498, 0.07344067096710205, -0.01925436034798622, -2.702775239944458, -0.01732153818011284, 2.500838041305542, 0.7409999966621399, 3.0866656453021335e-10], "max": [0.04101942107081413, 0.375734806060791, 0.02013712003827095, -2.3283417224884033, 0.035354480147361755, 2.8888509273529053, 0.8567887544631958, 0.4773458242416382], "mean": [0.003780513536185026, 0.24412541091442108, 0.0001940428774105385, -2.476318120956421, 0.001873117871582508, 2.7569613456726074, 0.7899267077445984, 0.09644340723752975], "std": [0.0254192017018795, 0.11104706674814224, 0.012188688851892948, 0.1653316766023636, 0.01320058386772871, 0.0920877754688263, 0.04662760719656944, 0.1855081468820572], "count": [224]}, "observation.joint_position": {"min": [-0.023125790059566498, 0.07344067096710205, -0.01925436034798622, -2.702775239944458, -0.01732153818011284, 2.500838041305542, 0.7409999966621399], "max": [0.04101942107081413, 0.375734806060791, 0.02013712003827095, -2.3283417224884033, 0.035354480147361755, 2.8888509273529053, 0.8567887544631958], "mean": [0.003780513536185026, 0.24412541091442108, 0.0001940428774105385, -2.476318120956421, 0.001873117871582508, 2.7569613456726074, 0.7899267077445984], "std": [0.0254192017018795, 0.11104706674814224, 0.012188688851892948, 0.1653316766023636, 0.01320058386772871, 0.0920877754688263, 0.04662760719656944], "count": [224]}, "observation.eef_pose_quaternion": {"min": [0.4086422324180603, -0.02012541890144348, 0.18015721440315247, 0.9992600083351135, -0.02656199410557747, -0.013816644437611103, -0.010781150311231613], "max": [0.5250294804573059, 0.02568359114229679, 0.26344114542007446, 0.9999745488166809, 0.0035805515944957733, 0.03827381134033203, 0.0021293158642947674], "mean": [0.4783279299736023, 0.00016096608305815607, 0.19877243041992188, 0.9997642636299133, -0.0007974159670993686, 0.018294036388397217, -0.0003697119536809623], "std": [0.051212236285209656, 0.017299113795161247, 0.02095111832022667, 0.0001284226746065542, 0.0044358959421515465, 0.010488852858543396, 0.002399575663730502], "count": [224]}, "observation.eef_pose_rotvec": {"min": [0.4086422324180603, -0.02012541890144348, 0.18015721440315247, -3.141230344772339, -0.01124562881886959, -0.05190916731953621], "max": [0.5250294804573059, 0.02568359114229679, 0.26344114542007446, 3.141291379928589, 0.08331388235092163, 0.12010699510574341], "mean": [0.4783279299736023, 0.00016096608305815607, 0.19877243041992188, 2.159989356994629, 0.002520162845030427, 0.057019609957933426], "std": [0.051212236285209656, 0.017299113795161247, 0.02095111832022667, 2.2777414321899414, 0.01390494592487812, 0.03367680683732033], "count": [224]}, "observation.eef_rotation_matrix": {"min": [0.9970481395721436, -0.05312002822756767, -0.02769017405807972, -0.05308965593576431, -1.0, -0.004481714218854904, -0.027567699551582336, -0.021637383848428726, -0.9999926090240479], "max": [0.9998993277549744, 0.007167340721935034, 0.07647937536239624, 0.007154344581067562, -0.9985763430595398, 0.02148042432963848, 0.07650264352560043, 0.004030116833746433, -0.9970641136169434], "mean": [0.9990701079368591, -0.0016227775486186147, 0.03658170625567436, -0.001565768150612712, -0.999947726726532, 0.0007410954567603767, 0.036573924124240875, -0.0007376665016636252, -0.9990991353988647], "std": [0.0005213780095800757, 0.008871447294950485, 0.020959701389074326, 0.00886746309697628, 0.00020566846069414169, 0.004811760503798723, 0.020979294553399086, 0.004785982891917229, 0.000533600861672312], "count": [224]}, "observation.gripper": {"min": [3.0866656453021335e-10], "max": [0.4773458242416382], "mean": [0.09644348174333572], "std": [0.18550829589366913], "count": [224]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019102785736322403, 0.019101204350590706], "mean": [0.0038576885126531124, 0.003857789793983102], "std": [0.007420206442475319, 0.007420452777296305], "count": [224]}, "observation.gripper_width_m": {"min": [2.4693325509361763e-11], "max": [0.0381876640021801], "mean": [0.007715477608144283], "std": [0.01484066154807806], "count": [224]}, "timestamp": {"min": [0.0], "max": [3.716666666666667], "mean": [1.8583333333333332], "std": [1.0777097630314636], "count": [224]}, "frame_index": {"min": [0], "max": [223], "mean": [111.5], "std": [64.66258578188781], "count": [224]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [224]}, "index": {"min": [12174], "max": [12397], "mean": [12285.5], "std": [64.66258578188781], "count": [224]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [224]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6255100925925926]], [[0.6011570397603486]], [[0.5726093518518518]]], "std": [[[0.18936622171007744]], [[0.19341427819330786]], [[0.20241306135895318]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.984313725490196]], [[0.9294117647058824]], [[0.9450980392156862]]], "mean": [[[0.5010195098039215]], [[0.4745038671023965]], [[0.44566500544662313]]], "std": [[[0.18348719123592738]], [[0.18615722430487666]], [[0.19043050975304499]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7725490196078432]], [[0.6862745098039216]], [[0.7803921568627451]]], "mean": [[[0.3327254248366013]], [[0.4062767626633987]], [[0.4798396854575164]]], "std": [[[0.1496590873721062]], [[0.1156397612946889]], [[0.15079139328346203]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7372549019607844]], [[0.6901960784313725]], [[0.7607843137254902]]], "mean": [[[0.3274337847222222]], [[0.4176284272875817]], [[0.48061647671568625]]], "std": [[[0.1465332893735284]], [[0.12168880045804936]], [[0.153761898202828]]], "count": [100]}}}
+{"episode_index": 53, "stats": {"observation.state": {"min": [-0.010812336578965187, -0.09244932234287262, -0.033884741365909576, -2.9185538291931152, -0.05167723447084427, 2.5008037090301514, 0.7409999966621399, 1.5892703819631038e-11], "max": [0.05429547280073166, 0.30588191747665405, 0.003107129130512476, -2.433037757873535, 0.035354387015104294, 3.1246495246887207, 0.8603036999702454, 0.4773359000682831], "mean": [0.027320249006152153, 0.1595582365989685, -0.017411215230822563, -2.6361780166625977, -0.019421130418777466, 2.9137346744537354, 0.8152832984924316, 0.10928072780370712], "std": [0.02729867585003376, 0.1263868808746338, 0.016237692907452583, 0.19846129417419434, 0.03249127045273781, 0.14681476354599, 0.04552001133561134, 0.19500720500946045], "count": [237]}, "observation.joint_position": {"min": [-0.010812336578965187, -0.09244932234287262, -0.033884741365909576, -2.9185538291931152, -0.05167723447084427, 2.5008037090301514, 0.7409999966621399], "max": [0.05429547280073166, 0.30588191747665405, 0.003107129130512476, -2.433037757873535, 0.035354387015104294, 3.1246495246887207, 0.8603036999702454], "mean": [0.027320249006152153, 0.1595582365989685, -0.017411215230822563, -2.6361780166625977, -0.019421130418777466, 2.9137346744537354, 0.8152832984924316], "std": [0.02729867585003376, 0.1263868808746338, 0.016237692907452583, 0.19846129417419434, 0.03249127045273781, 0.14681476354599, 0.04552001133561134], "count": [237]}, "observation.eef_pose_quaternion": {"min": [0.3513524532318115, -0.005122490227222443, 0.18337950110435486, 0.9963391423225403, -0.0024024650920182467, -0.013822180218994617, -0.010781449265778065], "max": [0.48752057552337646, 0.012268735095858574, 0.26345476508140564, 0.999964714050293, 0.005334419198334217, 0.08548770844936371, 0.009831237606704235], "mean": [0.436863511800766, 0.0056237694807350636, 0.20259687304496765, 0.9979904890060425, -0.00029222742887213826, 0.0592162050306797, 0.0042966497130692005], "std": [0.06130349636077881, 0.006891997996717691, 0.02183271013200283, 0.0007510717841796577, 0.0018571028485894203, 0.02121744118630886, 0.006016419269144535], "count": [237]}, "observation.eef_pose_rotvec": {"min": [0.3513524532318115, -0.005122490227222443, 0.18337950110435486, -3.1365036964416504, -0.01670433208346367, -0.2685428261756897], "max": [0.48752057552337646, 0.012268735095858574, 0.26345476508140564, 3.133821964263916, 0.010746675543487072, 0.2375158965587616], "mean": [0.436863511800766, 0.0056237694807350636, 0.20259687304496765, 0.5868175625801086, -0.003740329295396805, 0.04672631248831749], "std": [0.06130349636077881, 0.006891997996717691, 0.02183271013200283, 3.0680816173553467, 0.004536736290901899, 0.19138751924037933], "count": [237]}, "observation.eef_rotation_matrix": {"min": [0.9853835105895996, -0.0058661652728915215, -0.027701247483491898, -0.0037267645820975304, -1.0, -0.01980489119887352, -0.02757875993847847, -0.021638017147779465, -0.9999105334281921], "max": [0.9999477863311768, 0.010763425379991531, 0.1703495979309082, 0.01057274080812931, -0.9997513890266418, 0.02148098312318325, 0.17034941911697388, 0.019454525783658028, -0.9853836894035339], "mean": [0.9920793175697327, -0.0012073124526068568, 0.11814287304878235, 4.3050760723417625e-05, -0.9998837113380432, -0.008652805350720882, 0.11818616092205048, 0.008495627902448177, -0.9919776320457458], "std": [0.003047377336770296, 0.004144285339862108, 0.042340267449617386, 0.003317468799650669, 9.24769919947721e-05, 0.012119010090827942, 0.042309414595365524, 0.011913875117897987, 0.003007450606673956], "count": [237]}, "observation.gripper": {"min": [1.5892703819631038e-11], "max": [0.4773359000682831], "mean": [0.10928080976009369], "std": [0.19500750303268433], "count": [237]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019093791022896767, 0.01909387670457363], "mean": [0.004371228627860546, 0.004371232818812132], "std": [0.007800316903740168, 0.007800302002578974], "count": [237]}, "observation.gripper_width_m": {"min": [1.2714162405183527e-12], "max": [0.03818687051534653], "mean": [0.00874246284365654], "std": [0.015600601211190224], "count": [237]}, "timestamp": {"min": [0.0], "max": [3.933333333333333], "mean": [1.9666666666666668], "std": [1.1402566312831446], "count": [237]}, "frame_index": {"min": [0], "max": [236], "mean": [118.0], "std": [68.41539787698868], "count": [237]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [237]}, "index": {"min": [12398], "max": [12634], "mean": [12516.0], "std": [68.41539787698868], "count": [237]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [237]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6255108251633986]], [[0.5982978349673203]], [[0.5679773093681917]]], "std": [[[0.18165064331027966]], [[0.19115490508090963]], [[0.19922755515128737]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[0.9607843137254902]], [[0.9764705882352941]]], "mean": [[[0.5025273229847494]], [[0.4792694498910675]], [[0.4502467102396514]]], "std": [[[0.1843090469271156]], [[0.1856054459557745]], [[0.19037274796654385]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7568627450980392]], [[0.6823529411764706]], [[0.7411764705882353]]], "mean": [[[0.33375482230392156]], [[0.4078892708333334]], [[0.4815992912581699]]], "std": [[[0.14832047188883107]], [[0.11591314346600083]], [[0.14979584318898137]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.788235294117647]], [[0.6941176470588235]], [[0.7529411764705882]]], "mean": [[[0.3319230473856209]], [[0.4198816299019608]], [[0.4830597303921569]]], "std": [[[0.1452295733136895]], [[0.12241068622180806]], [[0.15209574372942472]]], "count": [100]}}}
+{"episode_index": 54, "stats": {"observation.state": {"min": [-0.045815687626600266, 0.011469175107777119, -0.018176713958382607, -2.757439613342285, 0.008135746233165264, 2.5008418560028076, 0.7258099317550659, 0.0], "max": [-0.010808630846440792, 0.4130345284938812, 0.0007685691816732287, -2.254848003387451, 0.035355109721422195, 2.9380459785461426, 0.743324875831604, 0.4773358404636383], "mean": [-0.030134761705994606, 0.2500990033149719, -0.009675961919128895, -2.454486846923828, 0.016780592501163483, 2.740471124649048, 0.7320719957351685, 0.10150078684091568], "std": [0.010644251480698586, 0.14109335839748383, 0.0066980356350541115, 0.21889126300811768, 0.005822765175253153, 0.1219378188252449, 0.004757483024150133, 0.18916451930999756], "count": [234]}, "observation.joint_position": {"min": [-0.045815687626600266, 0.011469175107777119, -0.018176713958382607, -2.757439613342285, 0.008135746233165264, 2.5008418560028076, 0.7258099317550659], "max": [-0.010808630846440792, 0.4130345284938812, 0.0007685691816732287, -2.254848003387451, 0.035355109721422195, 2.9380459785461426, 0.743324875831604], "mean": [-0.030134761705994606, 0.2500990033149719, -0.009675961919128895, -2.454486846923828, 0.016780592501163483, 2.740471124649048, 0.7320719957351685], "std": [0.010644251480698586, 0.14109335839748383, 0.0066980356350541115, 0.21889126300811768, 0.005822765175253153, 0.1219378188252449, 0.004757483024150133], "count": [234]}, "observation.eef_pose_quaternion": {"min": [0.3943227529525757, -0.022492485120892525, 0.18086926639080048, 0.9993801116943359, -0.002076087985187769, -0.015389378182590008, -0.010781391523778439], "max": [0.5443034768104553, -0.005121840629726648, 0.26343899965286255, 0.9999971985816956, 0.0031718374229967594, 0.035191964358091354, 0.0003259763470850885], "mean": [0.4837988615036011, -0.01977677084505558, 0.20109689235687256, 0.9997536540031433, -0.0004508030542638153, 0.018024971708655357, -0.0010918679181486368], "std": [0.06547927111387253, 0.0038982995320111513, 0.022621460258960724, 0.00013493062579073012, 0.0009698726353235543, 0.012578320689499378, 0.002542676404118538], "count": [234]}, "observation.eef_pose_rotvec": {"min": [0.3943227529525757, -0.022492485120892525, 0.18086926639080048, -3.141085386276245, -0.009898782707750797, -0.11041972786188126], "max": [0.5443034768104553, -0.005121840629726648, 0.26343899965286255, 3.1408774852752686, 0.005637316964566708, 0.11055624485015869], "mean": [0.4837988615036011, -0.01977677084505558, 0.20109689235687256, -2.5213353633880615, 0.0009949898812919855, -0.03860938176512718], "std": [0.06547927111387253, 0.0038982995320111513, 0.022621460258960724, 1.869133710861206, 0.0031987824477255344, 0.05721985548734665], "count": [234]}, "observation.eef_rotation_matrix": {"min": [0.997521698474884, -0.004159150179475546, -0.03077447973191738, -0.004143106285482645, -1.0, -0.0007643679273314774, -0.0307750403881073, -0.021637868136167526, -0.9999933242797852], "max": [0.9999950528144836, 0.006045644171535969, 0.07034025341272354, 0.006639669183641672, -0.9997513890266418, 0.021480904892086983, 0.07034037262201309, 0.0005394530016928911, -0.9975230693817139], "mean": [0.9990319013595581, -0.0009165667579509318, 0.036035582423210144, -0.0008861957467161119, -0.9999833106994629, 0.0021536704152822495, 0.036041900515556335, -0.002213156083598733, -0.9990187287330627], "std": [0.0005528533947654068, 0.001873967470601201, 0.02515694685280323, 0.0020055912900716066, 5.472531483974308e-05, 0.005075003486126661, 0.025138817727565765, 0.005094289314001799, 0.0005404887488111854], "count": [234]}, "observation.gripper": {"min": [0.0], "max": [0.4773358404636383], "mean": [0.10150089114904404], "std": [0.18916438519954681], "count": [234]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094131886959076, 0.01909472979605198], "mean": [0.004060033243149519, 0.004060038365423679], "std": [0.007566563319414854, 0.0075665609911084175], "count": [234]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818686679005623], "mean": [0.008120072074234486], "std": [0.015133150853216648], "count": [234]}, "timestamp": {"min": [0.0], "max": [3.8833333333333333], "mean": [1.9416666666666669], "std": [1.125822744419321], "count": [234]}, "frame_index": {"min": [0], "max": [233], "mean": [116.5], "std": [67.54936466515926], "count": [234]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [234]}, "index": {"min": [12635], "max": [12868], "mean": [12751.5], "std": [67.54936466515926], "count": [234]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [234]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.63131723583878]], [[0.6054884640522876]], [[0.5775582298474945]]], "std": [[[0.18990538592628095]], [[0.1944741198457695]], [[0.20477049941441552]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9372549019607843]], [[0.9529411764705882]]], "mean": [[[0.5024064733115468]], [[0.4778992211328976]], [[0.4490005691721133]]], "std": [[[0.18347883159824357]], [[0.18572180631934979]], [[0.190161783682953]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7450980392156863]], [[0.6901960784313725]], [[0.7803921568627451]]], "mean": [[[0.3340288051470588]], [[0.40530802900326796]], [[0.47948626429738567]]], "std": [[[0.15010148646137034]], [[0.11571793688307568]], [[0.1504950230903526]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7529411764705882]], [[0.6980392156862745]], [[0.7529411764705882]]], "mean": [[[0.32779531045751636]], [[0.4155731331699346]], [[0.4810993239379085]]], "std": [[[0.14576542637181988]], [[0.12054577404251095]], [[0.15362059291424823]]], "count": [100]}}}
+{"episode_index": 55, "stats": {"observation.state": {"min": [-0.01080875750631094, 0.00701352022588253, -0.02597768045961857, -2.833311080932617, -0.0631687268614769, 2.500788450241089, 0.7409999966621399, 6.90673126330088e-12], "max": [0.05688801780343056, 0.3540804982185364, 0.0014164915774017572, -2.400500535964966, 0.03535417094826698, 3.1177361011505127, 0.8801727294921875, 0.47733691334724426], "mean": [0.03206763416528702, 0.2170712649822235, -0.01868031546473503, -2.563213586807251, -0.011671322397887707, 2.8939216136932373, 0.8110717535018921, 0.10706028342247009], "std": [0.01805168017745018, 0.11604760587215424, 0.007012418005615473, 0.18812602758407593, 0.03159460797905922, 0.15268197655677795, 0.045752253383398056, 0.19341810047626495], "count": [233]}, "observation.joint_position": {"min": [-0.01080875750631094, 0.00701352022588253, -0.02597768045961857, -2.833311080932617, -0.0631687268614769, 2.500788450241089, 0.7409999966621399], "max": [0.05688801780343056, 0.3540804982185364, 0.0014164915774017572, -2.400500535964966, 0.03535417094826698, 3.1177361011505127, 0.8801727294921875], "mean": [0.03206763416528702, 0.2170712649822235, -0.01868031546473503, -2.563213586807251, -0.011671322397887707, 2.8939216136932373, 0.8110717535018921], "std": [0.01805168017745018, 0.11604760587215424, 0.007012418005615473, 0.18812602758407593, 0.03159460797905922, 0.15268197655677795, 0.045752253383398056], "count": [233]}, "observation.eef_pose_quaternion": {"min": [0.37656980752944946, -0.00512219313532114, 0.17767766118049622, 0.9966173768043518, -0.0038281388115137815, -0.013824310153722763, -0.01078102458268404], "max": [0.5082560181617737, 0.0180264450609684, 0.2634580731391907, 0.9999844431877136, 0.0028411545790731907, 0.08217544108629227, 0.0026913206093013287], "mean": [0.45847755670547485, 0.006227486301213503, 0.19776733219623566, 0.9981298446655273, 0.00037376454565674067, 0.056850265711545944, 0.0003545296785887331], "std": [0.056824203580617905, 0.008057776838541031, 0.022353995591402054, 0.0009277392528019845, 0.0011224219342693686, 0.022223450243473053, 0.0028077915776520967], "count": [233]}, "observation.eef_pose_rotvec": {"min": [0.37656980752944946, -0.00512219313532114, 0.17767766118049622, -3.139227867126465, -0.012007549405097961, -0.25814583897590637], "max": [0.5082560181617737, 0.0180264450609684, 0.2634580731391907, 3.138232707977295, 0.007825644686818123, 0.24893739819526672], "mean": [0.45847755670547485, 0.006227486301213503, 0.19776733219623566, 2.0311827659606934, 0.0006285988492891192, 0.13638393580913544], "std": [0.056824203580617905, 0.008057776838541031, 0.022353995591402054, 2.3845226764678955, 0.0036539470311254263, 0.13464763760566711], "count": [233]}, "observation.eef_rotation_matrix": {"min": [0.9864922761917114, -0.007996573112905025, -0.02770550362765789, -0.00727506959810853, -1.0, -0.005813718307763338, -0.02758302167057991, -0.02163717895746231, -0.9999414682388306], "max": [0.9999939203262329, 0.005383350886404514, 0.1637951284646988, 0.005979475565254688, -0.9997513890266418, 0.021480122581124306, 0.16379472613334656, 0.004968610592186451, -0.9864943623542786], "mean": [0.9925456643104553, 0.0006211669533513486, 0.11344882845878601, 0.0008725243387743831, -0.999983012676239, -0.0006816683453507721, 0.11345232278108597, 0.000730411265976727, -0.9925326704978943], "std": [0.00372843025252223, 0.002239977242425084, 0.04431072995066643, 0.0022470802068710327, 5.049959145253524e-05, 0.0055997734889388084, 0.044297199696302414, 0.005629917606711388, 0.0037046708166599274], "count": [233]}, "observation.gripper": {"min": [6.90673126330088e-12], "max": [0.47733691334724426], "mean": [0.10706034302711487], "std": [0.19341795146465302], "count": [233]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094515591859818, 0.019095562398433685], "mean": [0.0042824093252420425, 0.0042824167758226395], "std": [0.0077367015182971954, 0.007736708037555218], "count": [233]}, "observation.gripper_width_m": {"min": [5.525384837168357e-13], "max": [0.03818695247173309], "mean": [0.008564828895032406], "std": [0.015473435632884502], "count": [233]}, "timestamp": {"min": [0.0], "max": [3.8666666666666667], "mean": [1.9333333333333336], "std": [1.121011448053349], "count": [233]}, "frame_index": {"min": [0], "max": [232], "mean": [116.0], "std": [67.26068688320095], "count": [233]}, "episode_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [233]}, "index": {"min": [12869], "max": [13101], "mean": [12985.0], "std": [67.26068688320095], "count": [233]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [233]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6265698828976035]], [[0.6001803322440087]], [[0.5710490413943355]]], "std": [[[0.1854946980176718]], [[0.19237521460398055]], [[0.2006825150305911]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9372549019607843]], [[0.9450980392156862]]], "mean": [[[0.502257614379085]], [[0.47620439814814813]], [[0.4472323447712418]]], "std": [[[0.18497422970043848]], [[0.1871901741467613]], [[0.19175147970147088]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8666666666666667]], [[0.6941176470588235]], [[0.7803921568627451]]], "mean": [[[0.33127383986928105]], [[0.40811278390522876]], [[0.48426435457516337]]], "std": [[[0.1470608928379916]], [[0.11571612586315227]], [[0.1502782471423612]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8941176470588236]], [[0.6941176470588235]], [[0.7411764705882353]]], "mean": [[[0.33126200163398695]], [[0.41828346609477124]], [[0.48201572916666663]]], "std": [[[0.1481612739755915]], [[0.12087037543507247]], [[0.15049577831005895]]], "count": [100]}}}
+{"episode_index": 56, "stats": {"observation.state": {"min": [-0.011137108318507671, -0.01237138919532299, -0.01184018887579441, -2.7707109451293945, -0.002660209545865655, 2.5008397102355957, 0.7409999966621399, 7.288536961469472e-12], "max": [0.015012173913419247, 0.349159836769104, 0.018823811784386635, -2.3342397212982178, 0.035354457795619965, 2.8245232105255127, 0.8185022473335266, 0.47733625769615173], "mean": [-0.0012045780895277858, 0.21107204258441925, 0.0002746725804172456, -2.4933159351348877, 0.002753056352958083, 2.6474201679229736, 0.7809409499168396, 0.09518303722143173], "std": [0.010906578041613102, 0.12201202660799026, 0.013115710578858852, 0.18610996007919312, 0.008414900861680508, 0.10298003256320953, 0.024298224598169327, 0.1848801076412201], "count": [237]}, "observation.joint_position": {"min": [-0.011137108318507671, -0.01237138919532299, -0.01184018887579441, -2.7707109451293945, -0.002660209545865655, 2.5008397102355957, 0.7409999966621399], "max": [0.015012173913419247, 0.349159836769104, 0.018823811784386635, -2.3342397212982178, 0.035354457795619965, 2.8245232105255127, 0.8185022473335266], "mean": [-0.0012045780895277858, 0.21107204258441925, 0.0002746725804172456, -2.4933159351348877, 0.002753056352958083, 2.6474201679229736, 0.7809409499168396], "std": [0.010906578041613102, 0.12201202660799026, 0.013115710578858852, 0.18610996007919312, 0.008414900861680508, 0.10298003256320953, 0.024298224598169327], "count": [237]}, "observation.eef_pose_quaternion": {"min": [0.3797234892845154, -0.01117840874940157, 0.18002548813819885, 0.9990745186805725, -0.001378311193548143, -0.042987752705812454, -0.01078113168478012], "max": [0.5118541717529297, 0.012884153053164482, 0.2634396553039551, 0.9998809099197388, 0.012341034598648548, -0.012057702988386154, 0.000999182229861617], "mean": [0.46369320154190063, -0.0018230532296001911, 0.19921569526195526, 0.99955153465271, 0.0007266239845193923, -0.028474528342485428, -0.00026981302653439343], "std": [0.055459097027778625, 0.010602583177387714, 0.02201310731470585, 0.0002242126502096653, 0.0027177047450095415, 0.008398688398301601, 0.0026338822208344936], "count": [237]}, "observation.eef_pose_rotvec": {"min": [0.3797234892845154, -0.01117840874940157, 0.18002548813819885, -3.141080141067505, -0.0387670062482357, -0.13499955832958221], "max": [0.5118541717529297, 0.012884153053164482, 0.2634396553039551, 3.141016721725464, 0.02554079331457615, 0.12348589301109314], "mean": [0.46369320154190063, -0.0018230532296001911, 0.19921569526195526, 1.4974391460418701, -0.003676292020827532, -0.05571148917078972], "std": [0.055459097027778625, 0.010602583177387714, 0.02201310731470585, 2.757359743118286, 0.008029053919017315, 0.07472892105579376], "count": [237]}, "observation.eef_rotation_matrix": {"min": [0.9963003993034363, -0.002701259683817625, -0.0858975276350975, -0.00280695385299623, -1.0, -0.0019456385634839535, -0.08589433878660202, -0.021637344732880592, -0.9995405077934265], "max": [0.999694287776947, 0.024669617414474487, -0.024163957685232162, 0.024680932983756065, -0.999695360660553, 0.021480387076735497, -0.02406102605164051, 0.002048695692792535, -0.9963034391403198], "mean": [0.9982214570045471, 0.0014619110152125359, -0.056925516575574875, 0.0014441508101299405, -0.9999713897705078, 0.0005172950332053006, -0.05691414698958397, -0.0005625156918540597, -0.998223066329956], "std": [0.0009136571316048503, 0.005389237776398659, 0.016772368922829628, 0.005478858947753906, 7.012314017629251e-05, 0.005226785317063332, 0.01678341254591942, 0.005309694446623325, 0.0009057227871380746], "count": [237]}, "observation.gripper": {"min": [7.288536961469472e-12], "max": [0.47733625769615173], "mean": [0.09518305957317352], "std": [0.18488001823425293], "count": [237]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909475587308407, 0.019095242023468018], "mean": [0.0038073216564953327, 0.003807321423664689], "std": [0.007395205087959766, 0.007395219523459673], "count": [237]}, "observation.gripper_width_m": {"min": [5.83082952580749e-13], "max": [0.038186900317668915], "mean": [0.007614644709974527], "std": [0.014790400862693787], "count": [237]}, "timestamp": {"min": [0.0], "max": [3.933333333333333], "mean": [1.9666666666666668], "std": [1.1402566312831446], "count": [237]}, "frame_index": {"min": [0], "max": [236], "mean": [118.0], "std": [68.41539787698868], "count": [237]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [237]}, "index": {"min": [13102], "max": [13338], "mean": [13220.0], "std": [68.41539787698868], "count": [237]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [237]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6226857543572984]], [[0.6009576470588236]], [[0.5709153594771241]]], "std": [[[0.18470613464486246]], [[0.19020166123800694]], [[0.19887545623548036]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9450980392156862]], [[0.9647058823529412]]], "mean": [[[0.5003260866013072]], [[0.4706512064270153]], [[0.4429205446623094]]], "std": [[[0.1835233473923344]], [[0.1860753611994724]], [[0.19003287195437119]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7058823529411765]], [[0.6862745098039216]], [[0.7803921568627451]]], "mean": [[[0.3326969812091503]], [[0.40620339869281047]], [[0.4796376552287582]]], "std": [[[0.14800309961642877]], [[0.11529015883845371]], [[0.15138027622170613]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7490196078431373]], [[0.6941176470588235]], [[0.7686274509803922]]], "mean": [[[0.3269724162581699]], [[0.41852541258169934]], [[0.4810200449346405]]], "std": [[[0.14406950595559503]], [[0.12170517931474722]], [[0.15512980837037857]]], "count": [100]}}}
+{"episode_index": 57, "stats": {"observation.state": {"min": [-0.010822235606610775, 0.0036502331495285034, -0.0023895036429166794, -2.7514822483062744, -0.015798965469002724, 2.500839948654175, 0.7409999966621399, 0.0], "max": [0.043089162558317184, 0.37802091240882874, 0.016079062595963478, -2.30378794670105, 0.035354550927877426, 2.8595709800720215, 0.8422816395759583, 0.4773363471031189], "mean": [0.027301840484142303, 0.22305244207382202, 0.005534968338906765, -2.481114625930786, -0.005384119693189859, 2.721522808074951, 0.8237445950508118, 0.08904874324798584], "std": [0.016870789229869843, 0.13167786598205566, 0.0075971283949911594, 0.19774587452411652, 0.011773857288062572, 0.08643251657485962, 0.02341240644454956, 0.1800423562526703], "count": [256]}, "observation.joint_position": {"min": [-0.010822235606610775, 0.0036502331495285034, -0.0023895036429166794, -2.7514822483062744, -0.015798965469002724, 2.500839948654175, 0.7409999966621399], "max": [0.043089162558317184, 0.37802091240882874, 0.016079062595963478, -2.30378794670105, 0.035354550927877426, 2.8595709800720215, 0.8422816395759583], "mean": [0.027301840484142303, 0.22305244207382202, 0.005534968338906765, -2.481114625930786, -0.005384119693189859, 2.721522808074951, 0.8237445950508118], "std": [0.016870789229869843, 0.13167786598205566, 0.0075971283949911594, 0.19774587452411652, 0.011773857288062572, 0.08643251657485962, 0.02341240644454956], "count": [256]}, "observation.eef_pose_quaternion": {"min": [0.3907507359981537, -0.005122216418385506, 0.18277385830879211, 0.9987510442733765, -0.0012148130917921662, -0.026757510378956795, -0.010781168937683105], "max": [0.529735803604126, 0.023033365607261658, 0.26344332098960876, 0.9999998807907104, 0.0028398619033396244, 0.04990150034427643, 0.0029512823093682528], "mean": [0.4748728573322296, 0.016298893839120865, 0.2035750150680542, 0.9998556971549988, -0.00023858511121943593, 0.008754248730838299, 0.00035635472158901393], "std": [0.0615350715816021, 0.0073092784732580185, 0.02207157388329506, 0.0002214117703260854, 0.0008993725059553981, 0.01416434720158577, 0.003066061297431588], "count": [256]}, "observation.eef_pose_rotvec": {"min": [0.3907507359981537, -0.005122216418385506, 0.18277385830879211, -3.1415915489196777, -0.008860969915986061, -0.15652795135974884], "max": [0.529735803604126, 0.023033365607261658, 0.26344332098960876, 3.1415903568267822, 0.0038163631688803434, 0.08395961672067642], "mean": [0.4748728573322296, 0.016298893839120865, 0.2035750150680542, 1.2019858360290527, -0.0017125586746260524, 0.018144987523555756], "std": [0.0615350715816021, 0.0073092784732580185, 0.02207157388329506, 2.897672653198242, 0.00235597207210958, 0.04897545650601387], "count": [256]}, "observation.eef_rotation_matrix": {"min": [0.9950193762779236, -0.002429587533697486, -0.05350130423903465, -0.002429660875350237, -1.0, -0.005934355780482292, -0.05349010229110718, -0.02163742296397686, -1.0], "max": [0.9999998807907104, 0.00538088520988822, 0.09968030452728271, 0.005976772867143154, -0.9997513890266418, 0.021480459719896317, 0.09967642277479172, 0.005868968088179827, -0.9950078725814819], "mean": [0.9994433522224426, -0.0005228233058005571, 0.017496831715106964, -0.00043133142753504217, -0.999980628490448, -0.0007348994840867817, 0.01750720478594303, 0.0006907767383381724, -0.9994261860847473], "std": [0.0008848364232107997, 0.001775534125044942, 0.0283172857016325, 0.0018252891022711992, 4.898543193121441e-05, 0.006124819163233042, 0.02830924279987812, 0.006137440912425518, 0.0008851181482896209], "count": [256]}, "observation.gripper": {"min": [0.0], "max": [0.4773363471031189], "mean": [0.0890488550066948], "std": [0.18004216253757477], "count": [256]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094567745923996, 0.01909470558166504], "mean": [0.0035619440022855997, 0.0035619628615677357], "std": [0.0072016846388578415, 0.007201685570180416], "count": [256]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818690776824951], "mean": [0.007123907562345266], "std": [0.014403373003005981], "count": [256]}, "timestamp": {"min": [0.0], "max": [4.25], "mean": [2.125], "std": [1.2316711772583173], "count": [256]}, "frame_index": {"min": [0], "max": [255], "mean": [127.5], "std": [73.90027063549903], "count": [256]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [256]}, "index": {"min": [13339], "max": [13594], "mean": [13466.5], "std": [73.90027063549903], "count": [256]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [256]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6299944689542484]], [[0.603386190087146]], [[0.5740907135076252]]], "std": [[[0.183280983357904]], [[0.1912057617383887]], [[0.20032278520317817]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9568627450980393]], [[0.9372549019607843]], [[0.9450980392156862]]], "mean": [[[0.5013525326797386]], [[0.4764804411764706]], [[0.44780348583877994]]], "std": [[[0.1823614251045444]], [[0.18438040828087335]], [[0.18873382034018885]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6941176470588235]], [[0.6901960784313725]], [[0.7450980392156863]]], "mean": [[[0.33254766952614384]], [[0.4073057189542484]], [[0.4805209987745098]]], "std": [[[0.1480857298363212]], [[0.11605306680549081]], [[0.15091143763990197]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7411764705882353]], [[0.6901960784313725]], [[0.7803921568627451]]], "mean": [[[0.32853089869281044]], [[0.41916103758169937]], [[0.48084405433006533]]], "std": [[[0.14562424202434546]], [[0.12280097843748633]], [[0.15352174202422264]]], "count": [100]}}}
+{"episode_index": 58, "stats": {"observation.state": {"min": [-0.0431130975484848, 0.053416188806295395, -0.027317162603139877, -2.7136995792388916, 0.003200534265488386, 2.500839948654175, 0.7130221128463745, 0.0], "max": [-0.010798878036439419, 0.31362056732177734, 0.000734433822799474, -2.4133963584899902, 0.03535493463277817, 2.8524653911590576, 0.7409999966621399, 0.47733598947525024], "mean": [-0.036290816962718964, 0.20336906611919403, -0.020306505262851715, -2.5251080989837646, 0.012793976813554764, 2.7273237705230713, 0.7183430790901184, 0.09294525533914566], "std": [0.006888899486511946, 0.08670344203710556, 0.00576154887676239, 0.12980002164840698, 0.006701234262436628, 0.08376444876194, 0.006276029162108898, 0.18268194794654846], "count": [235]}, "observation.joint_position": {"min": [-0.0431130975484848, 0.053416188806295395, -0.027317162603139877, -2.7136995792388916, 0.003200534265488386, 2.500839948654175, 0.7130221128463745], "max": [-0.010798878036439419, 0.31362056732177734, 0.000734433822799474, -2.4133963584899902, 0.03535493463277817, 2.8524653911590576, 0.7409999966621399], "mean": [-0.036290816962718964, 0.20336906611919403, -0.020306505262851715, -2.5251080989837646, 0.012793976813554764, 2.7273237705230713, 0.7183430790901184], "std": [0.006888899486511946, 0.08670344203710556, 0.00576154887676239, 0.12980002164840698, 0.006701234262436628, 0.08376444876194, 0.006276029162108898], "count": [235]}, "observation.eef_pose_quaternion": {"min": [0.4015918970108032, -0.030655473470687866, 0.1810593158006668, 0.9996776580810547, -0.003399374894797802, -0.019676070660352707, -0.010781263932585716], "max": [0.4944969415664673, -0.005122185684740543, 0.26344233751296997, 0.9999998807907104, 0.003428381634876132, 0.02530069090425968, 0.0021349682938307524], "mean": [0.46011513471603394, -0.026763560250401497, 0.20011934638023376, 0.9999696612358093, -0.00026784397778101265, -0.0005276546580716968, -0.0005503093125298619], "std": [0.03971482068300247, 0.005745875183492899, 0.020549064502120018, 6.729569577146322e-05, 0.0011392293963581324, 0.007280768360942602, 0.002501401351764798], "count": [235]}, "observation.eef_pose_rotvec": {"min": [0.4015918970108032, -0.030655473470687866, 0.1810593158006668, -3.1415908336639404, -0.010705958120524883, -0.015518705360591412], "max": [0.4944969415664673, -0.005122185684740543, 0.26344233751296997, 3.1415817737579346, 0.01066234428435564, 0.07938200235366821], "mean": [0.46011513471603394, -0.026763560250401497, 0.20011934638023376, -0.8678706288337708, 0.00019230270117986947, 0.008434792049229145], "std": [0.03971482068300247, 0.005745875183492899, 0.020549064502120018, 3.0170655250549316, 0.0036610844545066357, 0.021275857463479042], "count": [235]}, "observation.eef_rotation_matrix": {"min": [0.9987192749977112, -0.006896450184285641, -0.039329979568719864, -0.006698303855955601, -1.0, -0.004291191231459379, -0.03935845568776131, -0.021637599915266037, -1.0], "max": [0.9999999403953552, 0.006668211426585913, 0.05058709532022476, 0.007043945603072643, -0.9997513890266418, 0.021480659022927284, 0.05058305710554123, 0.004246138036251068, -0.9987115263938904], "mean": [0.9998912215232849, -0.0005579225835390389, -0.001058668247424066, -0.0005135243991389871, -0.999984860420227, 0.001103403978049755, -0.0010524634271860123, -0.001097579370252788, -0.9998806118965149], "std": [0.0002528516051825136, 0.002239951863884926, 0.014563830569386482, 0.0023174856323748827, 5.117759792483412e-05, 0.004986272659152746, 0.014553775079548359, 0.005018120631575584, 0.0002661893959157169], "count": [235]}, "observation.gripper": {"min": [0.0], "max": [0.47733598947525024], "mean": [0.09294531494379044], "std": [0.1826818734407425], "count": [235]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909501478075981, 0.019095072522759438], "mean": [0.003717821789905429, 0.0037178008351475], "std": [0.007307276129722595, 0.007307248190045357], "count": [235]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186877965927124], "mean": [0.0074356249533593655], "std": [0.014614548534154892], "count": [235]}, "timestamp": {"min": [0.0], "max": [3.9], "mean": [1.95], "std": [1.1306340404097754], "count": [235]}, "frame_index": {"min": [0], "max": [234], "mean": [117.0], "std": [67.83804242458652], "count": [235]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [235]}, "index": {"min": [13595], "max": [13829], "mean": [13712.0], "std": [67.83804242458652], "count": [235]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [235]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6208850816993464]], [[0.6036906862745098]], [[0.5740360920479303]]], "std": [[[0.1855741982428531]], [[0.18826426476233063]], [[0.19779942129928105]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9764705882352941]], [[0.9450980392156862]], [[0.9411764705882353]]], "mean": [[[0.5053001661220043]], [[0.47174469226579524]], [[0.44336182461873636]]], "std": [[[0.18662801234785104]], [[0.18744301074478056]], [[0.1919732383669059]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7647058823529411]], [[0.6862745098039216]], [[0.7686274509803922]]], "mean": [[[0.3334590727124183]], [[0.405343329248366]], [[0.47929945465686274]]], "std": [[[0.1494098238006014]], [[0.11562829331895709]], [[0.15100927100847675]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.803921568627451]], [[0.6941176470588235]], [[0.7803921568627451]]], "mean": [[[0.3271364644607843]], [[0.416417602124183]], [[0.4810388235294118]]], "std": [[[0.14485523366128344]], [[0.12095645923937132]], [[0.1543728455812882]]], "count": [100]}}}
+{"episode_index": 59, "stats": {"observation.state": {"min": [-0.01080868486315012, 0.05034152790904045, -0.017778292298316956, -2.730393171310425, -0.006352080497890711, 2.500788450241089, 0.7410002946853638, 0.0], "max": [0.01241660863161087, 0.39699798822402954, 0.0025833381805568933, -2.298060178756714, 0.03535411134362221, 3.0134053230285645, 0.7966502904891968, 0.47733616828918457], "mean": [0.006952652242034674, 0.25521063804626465, -0.008757785893976688, -2.4688808917999268, 0.004142069257795811, 2.816556453704834, 0.780214250087738, 0.10086968541145325], "std": [0.005844726227223873, 0.12327875196933746, 0.008861350826919079, 0.19036132097244263, 0.00959597248584032, 0.13113944232463837, 0.013208686374127865, 0.18848304450511932], "count": [226]}, "observation.joint_position": {"min": [-0.01080868486315012, 0.05034152790904045, -0.017778292298316956, -2.730393171310425, -0.006352080497890711, 2.500788450241089, 0.7410002946853638], "max": [0.01241660863161087, 0.39699798822402954, 0.0025833381805568933, -2.298060178756714, 0.03535411134362221, 3.0134053230285645, 0.7966502904891968], "mean": [0.006952652242034674, 0.25521063804626465, -0.008757785893976688, -2.4688808917999268, 0.004142069257795811, 2.816556453704834, 0.780214250087738], "std": [0.005844726227223873, 0.12327875196933746, 0.008861350826919079, 0.19036132097244263, 0.00959597248584032, 0.13113944232463837, 0.013208686374127865], "count": [226]}, "observation.eef_pose_quaternion": {"min": [0.40868043899536133, -0.005122502334415913, 0.1817762851715088, 0.9979984760284424, -0.0016617889050394297, -0.013823612593114376, -0.010781058110296726], "max": [0.5375574231147766, 0.0029644977767020464, 0.2634579837322235, 0.999980092048645, 0.007248833309859037, 0.06323584169149399, 0.0023567434400320053], "mean": [0.4857189357280731, -0.0013339199358597398, 0.20162177085876465, 0.998769223690033, 0.00032346390071325004, 0.04623899981379509, 0.00041202784632332623], "std": [0.05651150271296501, 0.002973542781546712, 0.022112548351287842, 0.0005143256857991219, 0.001448094379156828, 0.017608752474188805, 0.0030111055821180344], "count": [226]}, "observation.eef_pose_rotvec": {"min": [0.40868043899536133, -0.005122502334415913, 0.1817762851715088, -3.1369168758392334, -0.008861877955496311, -0.19866058230400085], "max": [0.5375574231147766, 0.0029644977767020464, 0.2634579837322235, 3.1370246410369873, 0.022764921188354492, 0.19552135467529297], "mean": [0.4857189357280731, -0.0013339199358597398, 0.20162177085876465, 1.2210886478424072, 0.00039991727680899203, 0.0660051479935646], "std": [0.05651150271296501, 0.002973542781546712, 0.022112548351287842, 2.8862648010253906, 0.0046376134268939495, 0.14061740040779114], "count": [226]}, "observation.eef_rotation_matrix": {"min": [0.9920023083686829, -0.003190017072483897, -0.02770409733057022, -0.0034558826591819525, -1.0, -0.0047240792773664, -0.027581633999943733, -0.021637219935655594, -0.9999219179153442], "max": [0.9999982714653015, 0.014408726245164871, 0.12621857225894928, 0.014536651782691479, -0.9997513890266418, 0.02148021198809147, 0.12621857225894928, 0.004693333525210619, -0.9920024275779724], "mean": [0.9950994253158569, 0.0005304409423843026, 0.09234526008367538, 0.0007614551577717066, -0.9999753832817078, -0.0007967067649587989, 0.09235066175460815, 0.0008470596512779593, -0.9950850605964661], "std": [0.002086267340928316, 0.002893319819122553, 0.0351652167737484, 0.002894570818170905, 5.311064887791872e-05, 0.00601299200206995, 0.03514678403735161, 0.006031501572579145, 0.0020532694179564714], "count": [226]}, "observation.gripper": {"min": [0.0], "max": [0.47733616828918457], "mean": [0.10086976736783981], "std": [0.18848294019699097], "count": [226]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094055518507957, 0.019094405695796013], "mean": [0.0040347822941839695, 0.004034798126667738], "std": [0.007539314683526754, 0.007539320737123489], "count": [226]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818689286708832], "mean": [0.008069581352174282], "std": [0.015078635886311531], "count": [226]}, "timestamp": {"min": [0.0], "max": [3.75], "mean": [1.875], "std": [1.087332362558324], "count": [226]}, "frame_index": {"min": [0], "max": [225], "mean": [112.5], "std": [65.23994175349944], "count": [226]}, "episode_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [226]}, "index": {"min": [13830], "max": [14055], "mean": [13942.5], "std": [65.23994175349944], "count": [226]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [226]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6276445152505447]], [[0.6048674891067538]], [[0.5768368818082789]]], "std": [[[0.1901385451579323]], [[0.19161791588499633]], [[0.20169593681236794]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9529411764705882]], [[0.9568627450980393]]], "mean": [[[0.5020346623093682]], [[0.47821310729847494]], [[0.448713112745098]]], "std": [[[0.18395895191632036]], [[0.1858958823145784]], [[0.19069820926700728]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7686274509803922]], [[0.6862745098039216]], [[0.7529411764705882]]], "mean": [[[0.3329139562908497]], [[0.4079007291666667]], [[0.4825303288398693]]], "std": [[[0.14777419128553923]], [[0.11603303488241716]], [[0.149925568820353]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8313725490196079]], [[0.6823529411764706]], [[0.7568627450980392]]], "mean": [[[0.3313187071078431]], [[0.41932901348039214]], [[0.4826903084150327]]], "std": [[[0.14510251781832653]], [[0.12274493159203845]], [[0.15186924955631856]]], "count": [100]}}}
+{"episode_index": 60, "stats": {"observation.state": {"min": [-0.010810477659106255, 0.016890941187739372, -0.0043137152679264545, -2.7762246131896973, -0.03327289596199989, 2.500836133956909, 0.7409999966621399, 1.0871461716965847e-11], "max": [0.05965990200638771, 0.3024311065673828, 0.004620361607521772, -2.433037757873535, 0.03535541519522667, 3.045224666595459, 0.8532805442810059, 0.4773368239402771], "mean": [0.04362216964364052, 0.1934279501438141, -0.0022240662947297096, -2.5909485816955566, -0.013842325657606125, 2.8880271911621094, 0.8403634428977966, 0.1035812497138977], "std": [0.01952512562274933, 0.08954592049121857, 0.0024086427874863148, 0.12977422773838043, 0.015314162708818913, 0.12183671444654465, 0.026487402617931366, 0.19084987044334412], "count": [227]}, "observation.joint_position": {"min": [-0.010810477659106255, 0.016890941187739372, -0.0043137152679264545, -2.7762246131896973, -0.03327289596199989, 2.500836133956909, 0.7409999966621399], "max": [0.05965990200638771, 0.3024311065673828, 0.004620361607521772, -2.433037757873535, 0.03535541519522667, 3.045224666595459, 0.8532805442810059], "mean": [0.04362216964364052, 0.1934279501438141, -0.0022240662947297096, -2.5909485816955566, -0.013842325657606125, 2.8880271911621094, 0.8403634428977966], "std": [0.01952512562274933, 0.08954592049121857, 0.0024086427874863148, 0.12977422773838043, 0.015314162708818913, 0.12183671444654465, 0.026487402617931366], "count": [227]}, "observation.eef_pose_quaternion": {"min": [0.3946243226528168, -0.0051222629845142365, 0.18040665984153748, 0.9967755079269409, -0.0017280817264690995, -0.013818987645208836, -0.010781526565551758], "max": [0.4856112599372864, 0.027248704805970192, 0.2634446322917938, 0.9999911189079285, 0.002839761320501566, 0.08019192516803741, 0.00020341489289421588], "mean": [0.4498136043548584, 0.019963838160037994, 0.19926200807094574, 0.9984566569328308, 0.00013404061610344797, 0.05185101926326752, -0.0012047089403495193], "std": [0.0389619879424572, 0.00901982095092535, 0.021275322884321213, 0.0006148255779407918, 0.0008042831905186176, 0.019723042845726013, 0.0023068359587341547], "count": [227]}, "observation.eef_pose_rotvec": {"min": [0.3946243226528168, -0.0051222629845142365, 0.18040665984153748, -3.1391546726226807, -0.008860654197633266, -0.2515116035938263], "max": [0.4856112599372864, 0.027248704805970192, 0.2634446322917938, 3.135843276977539, 0.006925106514245272, 0.19816206395626068], "mean": [0.4498136043548584, 0.019963838160037994, 0.19926200807094574, -2.664687395095825, -0.00017026376735884696, -0.13399790227413177], "std": [0.0389619879424572, 0.00901982095092535, 0.021275322884321213, 1.6502864360809326, 0.0025469011161476374, 0.11132630705833435], "count": [227]}, "observation.eef_rotation_matrix": {"min": [0.987136960029602, -0.0034208183642476797, -0.02769484743475914, -0.0035037181805819273, -1.0, -0.00030849623726680875, -0.0275723934173584, -0.02163812518119812, -0.9999701380729675], "max": [0.9999945163726807, 0.005380712915211916, 0.15987136960029602, 0.005976543296128511, -0.9997513890266418, 0.021481188014149666, 0.15986208617687225, 0.0005350131541490555, -0.9871248006820679], "mean": [0.9938434958457947, 0.0003147372917737812, 0.10351777821779251, 0.00022119551431387663, -0.9999858140945435, 0.0024085156619548798, 0.1035219132900238, -0.0024062853772193193, -0.9938315749168396], "std": [0.0024834361393004656, 0.0015387036837637424, 0.039373695850372314, 0.0016794413095340133, 5.0819657190004364e-05, 0.004591013770550489, 0.039357639849185944, 0.004635830409824848, 0.0024570534005761147], "count": [227]}, "observation.gripper": {"min": [1.0871461716965847e-11], "max": [0.4773368239402771], "mean": [0.10358133167028427], "std": [0.19085010886192322], "count": [227]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909448392689228, 0.01909530721604824], "mean": [0.0041432492434978485, 0.0041432552970945835], "std": [0.007633983623236418, 0.007633997593075037], "count": [227]}, "observation.gripper_width_m": {"min": [8.697168961575852e-13], "max": [0.038186945021152496], "mean": [0.008286506868898869], "std": [0.015268009155988693], "count": [227]}, "timestamp": {"min": [0.0], "max": [3.7666666666666666], "mean": [1.8833333333333333], "std": [1.0921436616937252], "count": [227]}, "frame_index": {"min": [0], "max": [226], "mean": [113.0], "std": [65.5286197016235], "count": [227]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [227]}, "index": {"min": [14056], "max": [14282], "mean": [14169.0], "std": [65.5286197016235], "count": [227]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [227]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6258183142701526]], [[0.5986633632897604]], [[0.5680440468409585]]], "std": [[[0.1810346324247672]], [[0.1917225843003092]], [[0.19927041753319208]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.984313725490196]], [[0.9450980392156862]], [[0.9607843137254902]]], "mean": [[[0.5060658061002179]], [[0.47041804466230935]], [[0.44152692810457517]]], "std": [[[0.1899931194996233]], [[0.18959216764415102]], [[0.1945061599096948]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8]], [[0.6980392156862745]], [[0.7725490196078432]]], "mean": [[[0.3327845486111111]], [[0.4058540277777778]], [[0.4822132720588235]]], "std": [[[0.14878490889757354]], [[0.11545241400122154]], [[0.15021528397670697]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8352941176470589]], [[0.6941176470588235]], [[0.7450980392156863]]], "mean": [[[0.33060684232026144]], [[0.415892295751634]], [[0.4814169260620915]]], "std": [[[0.14718985085410344]], [[0.12066305070802992]], [[0.15158203127521447]]], "count": [100]}}}
+{"episode_index": 61, "stats": {"observation.state": {"min": [-0.03138676658272743, 0.07410826534032822, -0.02671435847878456, -2.7172281742095947, -0.011718334630131721, 2.500838041305542, 0.7397201657295227, 0.0], "max": [-0.009943176060914993, 0.30275043845176697, 0.0017313924618065357, -2.433037519454956, 0.03535500541329384, 2.8887176513671875, 0.7749842405319214, 0.47733575105667114], "mean": [-0.020305857062339783, 0.1988755464553833, -0.013940463773906231, -2.541762351989746, -0.002797049004584551, 2.7624661922454834, 0.7560330033302307, 0.09883353114128113], "std": [0.008054571226239204, 0.07936656475067139, 0.013325950130820274, 0.12713323533535004, 0.011516894213855267, 0.09208915382623672, 0.013785104267299175, 0.18682733178138733], "count": [221]}, "observation.joint_position": {"min": [-0.03138676658272743, 0.07410826534032822, -0.02671435847878456, -2.7172281742095947, -0.011718334630131721, 2.500838041305542, 0.7397201657295227], "max": [-0.009943176060914993, 0.30275043845176697, 0.0017313924618065357, -2.433037519454956, 0.03535500541329384, 2.8887176513671875, 0.7749842405319214], "mean": [-0.020305857062339783, 0.1988755464553833, -0.013940463773906231, -2.541762351989746, -0.002797049004584551, 2.7624661922454834, 0.7560330033302307], "std": [0.008054571226239204, 0.07936656475067139, 0.013325950130820274, 0.12713323533535004, 0.011516894213855267, 0.09208915382623672, 0.013785104267299175], "count": [221]}, "observation.eef_pose_quaternion": {"min": [0.40499570965766907, -0.028250791132450104, 0.1835077852010727, 0.9994000196456909, -0.003371316706761718, -0.013818797655403614, -0.010781506076455116], "max": [0.49075374007225037, -0.00393699249252677, 0.2634395360946655, 0.9999986290931702, 0.0028396467678248882, 0.03418978676199913, 0.006384808104485273], "mean": [0.4578329026699066, -0.016509635373950005, 0.20025154948234558, 0.9998915195465088, -0.0007981870439834893, 0.010801440104842186, 0.002586999675258994], "std": [0.03844138979911804, 0.010776599869132042, 0.01909196935594082, 8.40435313875787e-05, 0.0011881261598318815, 0.008478662930428982, 0.004494509659707546], "count": [221]}, "observation.eef_pose_rotvec": {"min": [0.40499570965766907, -0.028250791132450104, 0.1835077852010727, -3.1412549018859863, -0.010554494336247444, -0.04916605353355408], "max": [0.49075374007225037, -0.00393699249252677, 0.2634395360946655, 3.1412224769592285, 0.001342583796940744, 0.10708591341972351], "mean": [0.4578329026699066, -0.016509635373950005, 0.20025154948234558, 2.055835723876953, -0.0034482988994568586, 0.03396788239479065], "std": [0.03844138979911804, 0.010776599869132042, 0.01909196935594082, 2.3642818927764893, 0.002856775186955929, 0.02644929848611355], "count": [221]}, "observation.eef_rotation_matrix": {"min": [0.9976465106010437, -0.007088488433510065, -0.027694465592503548, -0.006389652844518423, -1.0, -0.012799025513231754, -0.027572013437747955, -0.021638091653585434, -0.9999946355819702], "max": [0.9999997615814209, 0.005380435846745968, 0.06831194460391998, 0.005976361222565174, -0.9997513890266418, 0.021481135860085487, 0.0683651715517044, 0.01273860689252615, -0.9976167678833008], "mean": [0.999618649482727, -0.0016884679207578301, 0.021585671231150627, -0.0015039193676784635, -0.9999401569366455, -0.005200845655053854, 0.0216139554977417, 0.005146285984665155, -0.9995689392089844], "std": [0.0003454631078056991, 0.0023917120415717363, 0.01696033775806427, 0.0023628866765648127, 5.633720866171643e-05, 0.008992631919682026, 0.016945723444223404, 0.008983639068901539, 0.00033431092742830515], "count": [221]}, "observation.gripper": {"min": [0.0], "max": [0.47733575105667114], "mean": [0.0988335907459259], "std": [0.18682733178138733], "count": [221]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019093597307801247, 0.019093815237283707], "mean": [0.003953343722969294, 0.0039533404633402824], "std": [0.00747307576239109, 0.007473084609955549], "count": [221]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818685933947563], "mean": [0.007906687445938587], "std": [0.014946185052394867], "count": [221]}, "timestamp": {"min": [0.0], "max": [3.6666666666666665], "mean": [1.8333333333333335], "std": [1.0632758605157722], "count": [221]}, "frame_index": {"min": [0], "max": [220], "mean": [110.0], "std": [63.796551630946325], "count": [221]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [221]}, "index": {"min": [14283], "max": [14503], "mean": [14393.0], "std": [63.796551630946325], "count": [221]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [221]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6195999999999999]], [[0.6027343436819173]], [[0.5729327859477124]]], "std": [[[0.18688420791088353]], [[0.18844527279226825]], [[0.1976193682786825]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9803921568627451]], [[0.9411764705882353]], [[0.9490196078431372]]], "mean": [[[0.5064018191721132]], [[0.4726770179738562]], [[0.4443756617647059]]], "std": [[[0.18841502111040095]], [[0.18811650856420628]], [[0.19290562944207895]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7411764705882353]], [[0.6745098039215687]], [[0.7450980392156863]]], "mean": [[[0.33273389297385625]], [[0.40832873161764704]], [[0.481221045751634]]], "std": [[[0.1475941506586735]], [[0.1163138973589715]], [[0.15053361060595577]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7490196078431373]], [[0.6941176470588235]], [[0.7529411764705882]]], "mean": [[[0.32969899714052286]], [[0.41886390522875816]], [[0.48170692810457516]]], "std": [[[0.14523891811544806]], [[0.12199736554410541]], [[0.15323586326313746]]], "count": [100]}}}
+{"episode_index": 62, "stats": {"observation.state": {"min": [-0.03494098410010338, 0.08312676846981049, -0.024563640356063843, -2.7193658351898193, -0.026163490489125252, 2.5007829666137695, 0.7100536227226257, 0.0], "max": [0.04474109038710594, 0.3323766887187958, 0.01175235491245985, -2.3970673084259033, 0.03535429388284683, 2.9657914638519287, 0.8571199774742126, 0.47733718156814575], "mean": [-0.0018033513333648443, 0.2262372225522995, -0.009200903587043285, -2.519326686859131, 0.007229607552289963, 2.7977569103240967, 0.7682252526283264, 0.10159417986869812], "std": [0.03532636910676956, 0.0860697478055954, 0.011624089442193508, 0.13664324581623077, 0.022990932688117027, 0.11870528757572174, 0.06533273309469223, 0.18867331743240356], "count": [215]}, "observation.joint_position": {"min": [-0.03494098410010338, 0.08312676846981049, -0.024563640356063843, -2.7193658351898193, -0.026163490489125252, 2.5007829666137695, 0.7100536227226257], "max": [0.04474109038710594, 0.3323766887187958, 0.01175235491245985, -2.3970673084259033, 0.03535429388284683, 2.9657914638519287, 0.8571199774742126], "mean": [-0.0018033513333648443, 0.2262372225522995, -0.009200903587043285, -2.519326686859131, 0.007229607552289963, 2.7977569103240967, 0.7682252526283264], "std": [0.03532636910676956, 0.0860697478055954, 0.011624089442193508, 0.13664324581623077, 0.022990932688117027, 0.11870528757572174, 0.06533273309469223], "count": [215]}, "observation.eef_pose_quaternion": {"min": [0.40752318501472473, -0.028186220675706863, 0.1802879124879837, 0.9988729357719421, -0.002817944623529911, -0.0138236153870821, -0.010781459510326385], "max": [0.5037363171577454, 0.02151436358690262, 0.2634604573249817, 0.999980092048645, 0.004995596595108509, 0.04745933786034584, 0.0022655827924609184], "mean": [0.46687665581703186, -0.007167353294789791, 0.19802123308181763, 0.9995378255844116, 0.0003505199565552175, 0.026205474510788918, -0.0010131439194083214], "std": [0.03988860920071602, 0.02259247750043869, 0.020221879705786705, 0.00035026733530685306, 0.0014054389903321862, 0.015057604759931564, 0.002472104039043188], "count": [215]}, "observation.eef_pose_rotvec": {"min": [0.40752318501472473, -0.028186220675706863, 0.1802879124879837, -3.140256881713867, -0.01563340239226818, -0.14908839762210846], "max": [0.5037363171577454, 0.02151436358690262, 0.2634604573249817, 3.1399495601654053, 0.009524884633719921, 0.14130955934524536], "mean": [0.46687665581703186, -0.007167353294789791, 0.19802123308181763, -1.1233718395233154, -0.000791350263170898, -0.0001373506966046989], "std": [0.03988860920071602, 0.02259247750043869, 0.020221879705786705, 2.9296579360961914, 0.004467842634767294, 0.09492108225822449], "count": [215]}, "observation.eef_rotation_matrix": {"min": [0.9954943656921387, -0.0056489636190235615, -0.02770410291850567, -0.005618995986878872, -1.0, -0.004388520959764719, -0.02758164331316948, -0.021638039499521255, -0.9999663233757019], "max": [0.9999529123306274, 0.009896736592054367, 0.0948115736246109, 0.010084440000355244, -0.9997513890266418, 0.021480998024344444, 0.0948118269443512, 0.004669808316975832, -0.9954952001571655], "mean": [0.9981691837310791, 0.0006947513902559876, 0.05237312614917755, 0.0007068794802762568, -0.9999823570251465, 0.00202774116769433, 0.052382197231054306, -0.0020243471954017878, -0.9981591701507568], "std": [0.0014136371901258826, 0.0027705077081918716, 0.030096106231212616, 0.002851154888048768, 5.512281495612115e-05, 0.004919315688312054, 0.030072446912527084, 0.004968276713043451, 0.0014024564297869802], "count": [215]}, "observation.gripper": {"min": [0.0], "max": [0.47733718156814575], "mean": [0.10159425437450409], "std": [0.18867355585098267], "count": [215]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019095677882432938, 0.01909581758081913], "mean": [0.004063759930431843, 0.004063777159899473], "std": [0.0075469305738806725, 0.0075469552539289], "count": [215]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186974823474884], "mean": [0.008127539418637753], "std": [0.015093883499503136], "count": [215]}, "timestamp": {"min": [0.0], "max": [3.566666666666667], "mean": [1.7833333333333334], "std": [1.03440804327886], "count": [215]}, "frame_index": {"min": [0], "max": [214], "mean": [107.0], "std": [62.0644825967316], "count": [215]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [215]}, "index": {"min": [14504], "max": [14718], "mean": [14611.0], "std": [62.0644825967316], "count": [215]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [215]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6190000980392156]], [[0.6016126606753813]], [[0.5725212363834422]]], "std": [[[0.19056489304388832]], [[0.19243120739225344]], [[0.20138336310607594]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9372549019607843]], [[0.9490196078431372]]], "mean": [[[0.5074002478213507]], [[0.4703735484749455]], [[0.4420860103485839]]], "std": [[[0.18980270904962707]], [[0.19015309104957237]], [[0.19474378964019748]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.788235294117647]], [[0.6862745098039216]], [[0.7764705882352941]]], "mean": [[[0.3332632026143791]], [[0.4052796058006536]], [[0.4812209987745098]]], "std": [[[0.14895600315176194]], [[0.11555448514860212]], [[0.15031507417493717]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.788235294117647]], [[0.6941176470588235]], [[0.7647058823529411]]], "mean": [[[0.32996089256535943]], [[0.4146035191993464]], [[0.48134225694444444]]], "std": [[[0.14562052870650918]], [[0.12022506048978963]], [[0.15245691955467897]]], "count": [100]}}}
+{"episode_index": 63, "stats": {"observation.state": {"min": [-0.010810411535203457, 0.04186675325036049, -0.004138265736401081, -2.782529592514038, -0.010007783770561218, 2.500788450241089, 0.7410004734992981, 9.10408901044768e-12], "max": [0.01370121818035841, 0.3381785452365875, 0.011008935049176216, -2.379059076309204, 0.035353884100914, 2.9655191898345947, 0.8026627898216248, 0.47733622789382935], "mean": [0.004579255357384682, 0.20970822870731354, 0.0018587952945381403, -2.5336811542510986, 0.0021345142740756273, 2.77103853225708, 0.7908280491828918, 0.1044360101222992], "std": [0.006879233755171299, 0.10441787540912628, 0.005862933583557606, 0.17674556374549866, 0.0105212964117527, 0.1299692988395691, 0.013631398789584637, 0.19114790856838226], "count": [216]}, "observation.joint_position": {"min": [-0.010810411535203457, 0.04186675325036049, -0.004138265736401081, -2.782529592514038, -0.010007783770561218, 2.500788450241089, 0.7410004734992981], "max": [0.01370121818035841, 0.3381785452365875, 0.011008935049176216, -2.379059076309204, 0.035353884100914, 2.9655191898345947, 0.8026627898216248], "mean": [0.004579255357384682, 0.20970822870731354, 0.0018587952945381403, -2.5336811542510986, 0.0021345142740756273, 2.77103853225708, 0.7908280491828918], "std": [0.006879233755171299, 0.10441787540912628, 0.005862933583557606, 0.17674556374549866, 0.0105212964117527, 0.1299692988395691, 0.013631398789584637], "count": [216]}, "observation.eef_pose_quaternion": {"min": [0.38570672273635864, -0.0051221540197730064, 0.18075048923492432, 0.9993913769721985, -0.0032895600888878107, -0.013822417706251144, -0.01078087743371725], "max": [0.5056993365287781, 0.005001147277653217, 0.2634597718715668, 0.9999998211860657, 0.0028405101038515568, 0.03488333895802498, 0.00012300119851715863], "mean": [0.4603199064731598, 0.002986796433106065, 0.19857580959796906, 0.9997917413711548, -0.00025552319129928946, 0.013841002248227596, -0.0009724661940708756], "std": [0.05210936814546585, 0.0022416359279304743, 0.020279059186577797, 0.00023495523782912642, 0.001031750114634633, 0.014628454111516476, 0.0025164734106510878], "count": [216]}, "observation.eef_pose_rotvec": {"min": [0.38570672273635864, -0.0051221540197730064, 0.18075048923492432, -3.141571283340454, -0.008862997405230999, -0.10826729238033295], "max": [0.5056993365287781, 0.005001147277653217, 0.2634597718715668, 3.140571117401123, 0.01030490081757307, 0.109587162733078], "mean": [0.4603199064731598, 0.002986796433106065, 0.19857580959796906, -1.4236820936203003, 0.001309475745074451, 0.01239228155463934], "std": [0.05210936814546585, 0.0022416359279304743, 0.020279059186577797, 2.7975566387176514, 0.0030618300661444664, 0.062024474143981934], "count": [216]}, "observation.eef_rotation_matrix": {"min": [0.997566282749176, -0.006564469076693058, -0.02770170010626316, -0.006593550555408001, -1.0, -0.00018541901954449713, -0.027579253539443016, -0.021636823192238808, -1.0], "max": [0.9999996423721313, 0.005382162053138018, 0.06972422450780869, 0.005978087894618511, -0.9997514486312866, 0.0214798916131258, 0.06972420960664749, 0.0003188985283486545, -0.997566282749176], "mean": [0.999186635017395, -0.0005234841373749077, 0.027668679133057594, -0.0004986523999832571, -0.999983549118042, 0.0019374459516257048, 0.027671482414007187, -0.0019519550260156393, -0.999174177646637], "std": [0.0009453993989154696, 0.002020089654251933, 0.029245717450976372, 0.0021074647083878517, 5.4472322517540306e-05, 0.005018515978008509, 0.02923733927309513, 0.005046219099313021, 0.0009398657130077481], "count": [216]}, "observation.gripper": {"min": [9.10408901044768e-12], "max": [0.47733622789382935], "mean": [0.10443604737520218], "std": [0.191148042678833], "count": [216]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094085320830345, 0.019094597548246384], "mean": [0.004177440423518419, 0.004177444148808718], "std": [0.007645914331078529, 0.00764593668282032], "count": [216]}, "observation.gripper_width_m": {"min": [7.283271208358144e-13], "max": [0.038186896592378616], "mean": [0.008354883641004562], "std": [0.015291842631995678], "count": [216]}, "timestamp": {"min": [0.0], "max": [3.5833333333333335], "mean": [1.7916666666666667], "std": [1.0392193473236782], "count": [216]}, "frame_index": {"min": [0], "max": [215], "mean": [107.5], "std": [62.353160839420696], "count": [216]}, "episode_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [216]}, "index": {"min": [14719], "max": [14934], "mean": [14826.5], "std": [62.353160839420696], "count": [216]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [216]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6244124373638344]], [[0.5997991149237473]], [[0.5701055882352941]]], "std": [[[0.18434625355580633]], [[0.1916596531917092]], [[0.20019287667883878]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9529411764705882]], [[0.9607843137254902]], [[0.9647058823529412]]], "mean": [[[0.5010452777777779]], [[0.4735659368191721]], [[0.4450724373638344]]], "std": [[[0.18510373750674602]], [[0.1867531497944299]], [[0.19110939521102407]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7764705882352941]], [[0.6784313725490196]], [[0.7686274509803922]]], "mean": [[[0.33359523488562093]], [[0.404947602124183]], [[0.4804319219771242]]], "std": [[[0.1493134055957006]], [[0.11558201956426188]], [[0.15040468128193848]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7764705882352941]], [[0.6901960784313725]], [[0.7725490196078432]]], "mean": [[[0.32890268790849675]], [[0.41483478758169934]], [[0.48121380514705886]]], "std": [[[0.14491908453295868]], [[0.12028712730421855]], [[0.1530025033734417]]], "count": [100]}}}
+{"episode_index": 64, "stats": {"observation.state": {"min": [-0.010808984749019146, 0.08269545435905457, 0.00015873642405495048, -2.630263566970825, -0.013808206655085087, 2.5008304119110107, 0.7409999966621399, 2.5495305866485296e-10], "max": [0.024940917268395424, 0.4221932590007782, 0.031033193692564964, -2.198929786682129, 0.03535463660955429, 2.7613766193389893, 0.839529275894165, 0.47733718156814575], "mean": [0.013943588361144066, 0.2822219729423523, 0.016464324668049812, -2.371857166290283, -0.004237110260874033, 2.5976576805114746, 0.8183004856109619, 0.08756858855485916], "std": [0.00898259598761797, 0.12648239731788635, 0.0098379235714674, 0.19303223490715027, 0.011671137996017933, 0.09564663469791412, 0.026681089773774147, 0.1780487447977066], "count": [214]}, "observation.joint_position": {"min": [-0.010808984749019146, 0.08269545435905457, 0.00015873642405495048, -2.630263566970825, -0.013808206655085087, 2.5008304119110107, 0.7409999966621399], "max": [0.024940917268395424, 0.4221932590007782, 0.031033193692564964, -2.198929786682129, 0.03535463660955429, 2.7613766193389893, 0.839529275894165], "mean": [0.013943588361144066, 0.2822219729423523, 0.016464324668049812, -2.371857166290283, -0.004237110260874033, 2.5976576805114746, 0.8183004856109619], "std": [0.00898259598761797, 0.12648239731788635, 0.0098379235714674, 0.19303223490715027, 0.011671137996017933, 0.09564663469791412, 0.026681089773774147], "count": [214]}, "observation.eef_pose_quaternion": {"min": [0.42478784918785095, -0.005312234163284302, 0.18094629049301147, 0.9993098974227905, -0.004195564426481724, -0.03713728114962578, -0.010781405493617058], "max": [0.547574520111084, 0.03007347323000431, 0.26344433426856995, 0.9999144673347473, 0.004938018508255482, -0.012876725755631924, 0.0007087882841005921], "mean": [0.4991705119609833, 0.01629890687763691, 0.2001466006040573, 0.9995697736740112, 0.00010479727643541992, -0.028168870136141777, -0.0007212214404717088], "std": [0.05506535992026329, 0.01064850389957428, 0.020231401547789574, 0.00020504319400060922, 0.001400472829118371, 0.007544841151684523, 0.0025253458879888058], "count": [214]}, "observation.eef_pose_rotvec": {"min": [0.42478784918785095, -0.005312234163284302, 0.18094629049301147, -3.1408331394195557, -0.01549964863806963, -0.11662852764129639], "max": [0.547574520111084, 0.03007347323000431, 0.26344433426856995, 3.1409151554107666, 0.013174403458833694, 0.11042798310518265], "mean": [0.4991705119609833, 0.01629890687763691, 0.2001466006040573, 0.8815796971321106, -0.0006135481526143849, -0.035962335765361786], "std": [0.05506535992026329, 0.01064850389957428, 0.020231401547789574, 3.011573553085327, 0.00436151959002018, 0.08421360701322556], "count": [214]}, "observation.eef_rotation_matrix": {"min": [0.9972415566444397, -0.008421236649155617, -0.07422355562448502, -0.008357110433280468, -1.0, -0.0013991735177114606, -0.07422308623790741, -0.021637888625264168, -0.9996644854545593], "max": [0.9996620416641235, 0.009789981879293919, -0.02574627660214901, 0.00995317567139864, -0.9997513890266418, 0.021480940282344818, -0.02575622871518135, 0.0014340695925056934, -0.9972410202026367], "mean": [0.9982954263687134, 0.00019046747183892876, -0.05631278082728386, 0.0002285276132170111, -0.9999827742576599, 0.001436405349522829, -0.056308161467313766, -0.0014482118422165513, -0.9982855319976807], "std": [0.0008369908318854868, 0.0027758402284234762, 0.015068178996443748, 0.0028267044108361006, 5.215284909354523e-05, 0.005036923103034496, 0.01507550198584795, 0.0050633433274924755, 0.0008218901348300278], "count": [214]}, "observation.gripper": {"min": [2.5495305866485296e-10], "max": [0.47733718156814575], "mean": [0.08756860345602036], "std": [0.1780489832162857], "count": [214]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019095344468951225, 0.019095253199338913], "mean": [0.003502732142806053, 0.0035027547273784876], "std": [0.007121925707906485, 0.00712199741974473], "count": [214]}, "observation.gripper_width_m": {"min": [2.039624372174309e-11], "max": [0.038186974823474884], "mean": [0.007005488965660334], "std": [0.014243919402360916], "count": [214]}, "timestamp": {"min": [0.0], "max": [3.55], "mean": [1.7750000000000001], "std": [1.0295967387499072], "count": [214]}, "frame_index": {"min": [0], "max": [213], "mean": [106.5], "std": [61.775804324994425], "count": [214]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [214]}, "index": {"min": [14935], "max": [15148], "mean": [15041.5], "std": [61.775804324994425], "count": [214]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [214]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6265030855119825]], [[0.6031637908496732]], [[0.5746482352941177]]], "std": [[[0.18378872171872632]], [[0.18946542437578143]], [[0.19925755208351337]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9490196078431372]], [[0.9372549019607843]], [[0.9568627450980393]]], "mean": [[[0.5001538480392157]], [[0.4712560049019608]], [[0.44304657135076253]]], "std": [[[0.18249494850413542]], [[0.18510730358544147]], [[0.18920833553245947]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7098039215686275]], [[0.6901960784313725]], [[0.7803921568627451]]], "mean": [[[0.3319412091503268]], [[0.4059268974673203]], [[0.4805896875]]], "std": [[[0.1469690542284235]], [[0.11503015781029607]], [[0.15172749641585628]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7607843137254902]], [[0.6941176470588235]], [[0.788235294117647]]], "mean": [[[0.3279768668300654]], [[0.4184036131535948]], [[0.48005298406862745]]], "std": [[[0.14450103207402043]], [[0.12224814111023735]], [[0.15450720024391917]]], "count": [100]}}}
+{"episode_index": 65, "stats": {"observation.state": {"min": [-0.013763259164988995, 0.07517121732234955, -0.01846436783671379, -2.6515650749206543, -0.0020212875679135323, 2.500838041305542, 0.7408603429794312, 6.361684512512511e-10], "max": [0.0021803914569318295, 0.40954071283340454, 0.0021644902881234884, -2.2618067264556885, 0.03535549342632294, 2.847430467605591, 0.7662153840065002, 0.4773358404636383], "mean": [-0.004778424743562937, 0.27062493562698364, -0.010888754390180111, -2.4221904277801514, 0.008151926100254059, 2.702897787094116, 0.7618809342384338, 0.0947028324007988], "std": [0.0068081519566476345, 0.12030506879091263, 0.005833526141941547, 0.17384347319602966, 0.007255385629832745, 0.08990780264139175, 0.006445757579058409, 0.1838361620903015], "count": [213]}, "observation.joint_position": {"min": [-0.013763259164988995, 0.07517121732234955, -0.01846436783671379, -2.6515650749206543, -0.0020212875679135323, 2.500838041305542, 0.7408603429794312], "max": [0.0021803914569318295, 0.40954071283340454, 0.0021644902881234884, -2.2618067264556885, 0.03535549342632294, 2.847430467605591, 0.7662153840065002], "mean": [-0.004778424743562937, 0.27062493562698364, -0.010888754390180111, -2.4221904277801514, 0.008151926100254059, 2.702897787094116, 0.7618809342384338], "std": [0.0068081519566476345, 0.12030506879091263, 0.005833526141941547, 0.17384347319602966, 0.007255385629832745, 0.08990780264139175, 0.006445757579058409], "count": [213]}, "observation.eef_pose_quaternion": {"min": [0.4243480861186981, -0.009954827837646008, 0.17815957963466644, 0.9995363354682922, -0.001960933208465576, -0.029759861528873444, -0.010781515389680862], "max": [0.5413767695426941, -0.0034257720690220594, 0.2634410858154297, 0.9999982714653015, 0.013685434125363827, 0.019230393692851067, 0.001251205219887197], "mean": [0.4918212294578552, -0.00799089577049017, 0.19834233820438385, 0.9999334216117859, 0.0006761738331988454, 0.005065530072897673, -9.039649739861488e-05], "std": [0.05243523791432381, 0.0010771402157843113, 0.02148834615945816, 7.431377889588475e-05, 0.002797337481752038, 0.009439742192626, 0.0027204074431210756], "count": [213]}, "observation.eef_pose_rotvec": {"min": [0.4243480861186981, -0.009954827837646008, 0.17815957963466644, -3.14156174659729, -0.015052598901093006, -0.04576496034860611], "max": [0.5413767695426941, -0.0034257720690220594, 0.2634410858154297, 3.1415443420410156, 0.04297607019543648, 0.09311570227146149], "mean": [0.4918212294578552, -0.00799089577049017, 0.19834233820438385, 0.9883186221122742, 0.00038690140354447067, 0.020270362496376038], "std": [0.05243523791432381, 0.0010771402157843113, 0.02148834615945816, 2.978955030441284, 0.009024547412991524, 0.026789622381329536], "count": [213]}, "observation.eef_rotation_matrix": {"min": [0.9982274174690247, -0.003937644883990288, -0.059502337127923965, -0.0039058951660990715, -1.0, -0.0025139811914414167, -0.05948193371295929, -0.021638093516230583, -0.9999998807907104], "max": [0.9999933242797852, 0.02738456428050995, 0.03845936059951782, 0.02734622359275818, -0.9996245503425598, 0.021481173112988472, 0.038447629660367966, 0.0024904655292630196, -0.9981473684310913], "mean": [0.9997538328170776, 0.0013133427128195763, 0.010127433575689793, 0.0013908912660554051, -0.9999701976776123, 0.00016095777391456068, 0.010135086253285408, -0.0002001522370846942, -0.9997552037239075], "std": [0.00027490267530083656, 0.005583581514656544, 0.01888386532664299, 0.005605506710708141, 7.864266081014648e-05, 0.005419872235506773, 0.018867695704102516, 0.005460395012050867, 0.00028753941296599805], "count": [213]}, "observation.gripper": {"min": [6.361684512512511e-10], "max": [0.4773358404636383], "mean": [0.09470286220312119], "std": [0.18383610248565674], "count": [213]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094211980700493, 0.019095011055469513], "mean": [0.0037880998570472, 0.0037881252355873585], "std": [0.007353468798100948, 0.007353424094617367], "count": [213]}, "observation.gripper_width_m": {"min": [5.0893473463320404e-11], "max": [0.03818686679005623], "mean": [0.007576227653771639], "std": [0.014706889167428017], "count": [213]}, "timestamp": {"min": [0.0], "max": [3.533333333333333], "mean": [1.7666666666666668], "std": [1.0247854337300006], "count": [213]}, "frame_index": {"min": [0], "max": [212], "mean": [106.0], "std": [61.48712602380003], "count": [213]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [213]}, "index": {"min": [15149], "max": [15361], "mean": [15255.0], "std": [61.48712602380003], "count": [213]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [213]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.628046688453159]], [[0.6041933061002179]], [[0.5761465332244009]]], "std": [[[0.1893523841494633]], [[0.19268007472082407]], [[0.20274290721358332]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9568627450980393]], [[0.9490196078431372]], [[0.9686274509803922]]], "mean": [[[0.5002407625272332]], [[0.4747199863834423]], [[0.4458843518518518]]], "std": [[[0.18331148647834955]], [[0.1861537192492673]], [[0.19058360471239733]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7843137254901961]], [[0.6901960784313725]], [[0.7490196078431373]]], "mean": [[[0.33243406045751633]], [[0.4072596282679739]], [[0.47980355187908497]]], "std": [[[0.1496197497397856]], [[0.11614988579931079]], [[0.1511215696192191]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7450980392156863]], [[0.6901960784313725]], [[0.7529411764705882]]], "mean": [[[0.3272356658496732]], [[0.4185604983660131]], [[0.4811930147058823]]], "std": [[[0.1458492503535104]], [[0.12049213605084132]], [[0.15464484581478696]]], "count": [100]}}}
+{"episode_index": 66, "stats": {"observation.state": {"min": [-0.010817693546414375, -0.009335482493042946, -0.004141225013881922, -2.7204267978668213, -8.836610504658893e-05, 2.393549919128418, 0.7409999966621399, 0.0], "max": [0.012558921240270138, 0.4565044343471527, 0.010151999071240425, -2.1200177669525146, 0.035354483872652054, 2.733193874359131, 0.802052915096283, 0.47733622789382935], "mean": [0.006990515626966953, 0.27935081720352173, 0.001538745709694922, -2.3568732738494873, 0.004621382802724838, 2.523056745529175, 0.7907603979110718, 0.08666770160198212], "std": [0.005471203476190567, 0.17216980457305908, 0.005921102128922939, 0.2702266573905945, 0.007535996381193399, 0.12776929140090942, 0.01222420297563076, 0.17765942215919495], "count": [241]}, "observation.joint_position": {"min": [-0.010817693546414375, -0.009335482493042946, -0.004141225013881922, -2.7204267978668213, -8.836610504658893e-05, 2.393549919128418, 0.7409999966621399], "max": [0.012558921240270138, 0.4565044343471527, 0.010151999071240425, -2.1200177669525146, 0.035354483872652054, 2.733193874359131, 0.802052915096283], "mean": [0.006990515626966953, 0.27935081720352173, 0.001538745709694922, -2.3568732738494873, 0.004621382802724838, 2.523056745529175, 0.7907603979110718], "std": [0.005471203476190567, 0.17216980457305908, 0.005921102128922939, 0.2702266573905945, 0.007535996381193399, 0.12776929140090942, 0.01222420297563076], "count": [241]}, "observation.eef_pose_quaternion": {"min": [0.3903653025627136, -0.005122280679643154, 0.181260347366333, 0.9976953864097595, -0.004411340691149235, -0.06784873455762863, -0.010781176388263702], "max": [0.5649075508117676, 0.0055925785563886166, 0.2634424567222595, 0.9998485445976257, 0.0028396896086633205, -0.013586314395070076, 0.0004635227960534394], "mean": [0.495776891708374, 0.0040441835299134254, 0.19956867396831512, 0.9983086585998535, -0.00026044659898616374, -0.05653616786003113, -0.0005906976293772459], "std": [0.07693587243556976, 0.0021995329298079014, 0.020541904494166374, 0.0006164577789604664, 0.0012264872202649713, 0.013229046948254108, 0.002449799794703722], "count": [241]}, "observation.eef_pose_rotvec": {"min": [0.3903653025627136, -0.005122280679643154, 0.181260347366333, -3.138625383377075, -0.008860432542860508, -0.21309246122837067], "max": [0.5649075508117676, 0.0055925785563886166, 0.2634424567222595, 3.137991189956665, 0.013850856572389603, 0.20772041380405426], "mean": [0.495776891708374, 0.0040441835299134254, 0.19956867396831512, 0.2734694480895996, 0.00018691655714064837, -0.03550473973155022], "std": [0.07693587243556976, 0.0021995329298079014, 0.020541904494166374, 3.1224749088287354, 0.003927139099687338, 0.17887438833713531], "count": [241]}, "observation.eef_rotation_matrix": {"min": [0.990792989730835, -0.008901840075850487, -0.13538499176502228, -0.00871989969164133, -1.0, -0.0008949834736995399, -0.13538452982902527, -0.021637432277202606, -0.9994071125984192], "max": [0.9996163249015808, 0.005380538757890463, -0.027225755155086517, 0.005976430140435696, -0.9997513890266418, 0.02148047834634781, -0.027111226692795753, 0.0009549105307087302, -0.9907926917076111], "mean": [0.9932544231414795, -0.0005327631370164454, -0.1128680631518364, -0.0005064274300821126, -0.9999844431877136, 0.0012234833557158709, -0.11286234855651855, -0.0011394934263080359, -0.9932448267936707], "std": [0.0024921498261392117, 0.0024181148037314415, 0.026355799287557602, 0.0024861465208232403, 5.128833799972199e-05, 0.004873703699558973, 0.026374347507953644, 0.004925215151160955, 0.002465023659169674], "count": [241]}, "observation.gripper": {"min": [0.0], "max": [0.47733622789382935], "mean": [0.08666781336069107], "std": [0.17765960097312927], "count": [241]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094353541731834, 0.019094526767730713], "mean": [0.003466710215434432, 0.0034667132422327995], "std": [0.007106370758265257, 0.007106373552232981], "count": [241]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186896592378616], "mean": [0.006933425087481737], "std": [0.014212767593562603], "count": [241]}, "timestamp": {"min": [0.0], "max": [4.0], "mean": [2.0], "std": [1.1595018087284057], "count": [241]}, "frame_index": {"min": [0], "max": [240], "mean": [120.0], "std": [69.57010852370435], "count": [241]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [241]}, "index": {"min": [15362], "max": [15602], "mean": [15482.0], "std": [69.57010852370435], "count": [241]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [241]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6294814188453158]], [[0.6030565604575163]], [[0.5744468845315904]]], "std": [[[0.18385081022564811]], [[0.19059758260426446]], [[0.20029550068756435]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9411764705882353]], [[0.9568627450980393]]], "mean": [[[0.5011179466230936]], [[0.47125048202614384]], [[0.4438799918300653]]], "std": [[[0.1814705398981997]], [[0.18424204618915566]], [[0.18812061911618355]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6745098039215687]], [[0.6941176470588235]], [[0.788235294117647]]], "mean": [[[0.3322188480392157]], [[0.40620870915032675]], [[0.4808065114379085]]], "std": [[[0.14592880889366355]], [[0.11507858278043159]], [[0.15181391265418245]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7647058823529411]], [[0.6901960784313725]], [[0.796078431372549]]], "mean": [[[0.3288158210784314]], [[0.4185729718137255]], [[0.48032188725490194]]], "std": [[[0.14375866361357464]], [[0.1220358700874777]], [[0.15448392103687555]]], "count": [100]}}}
+{"episode_index": 67, "stats": {"observation.state": {"min": [-0.010824054479598999, 0.05576777458190918, -0.01806735061109066, -2.772017240524292, -0.050043344497680664, 2.5008418560028076, 0.7409999966621399, 0.0], "max": [0.07040723413228989, 0.3910779356956482, 0.01013584528118372, -2.338934898376465, 0.0353546179831028, 3.0191121101379395, 0.9000542759895325, 0.47733813524246216], "mean": [0.03353945165872574, 0.246633842587471, -0.006848074495792389, -2.5056469440460205, -0.010123338550329208, 2.862365484237671, 0.8231955170631409, 0.09010523557662964], "std": [0.026443254202604294, 0.1231902614235878, 0.005647087469696999, 0.19073155522346497, 0.025489429011940956, 0.11532119661569595, 0.052730679512023926, 0.1808435320854187], "count": [253]}, "observation.joint_position": {"min": [-0.010824054479598999, 0.05576777458190918, -0.01806735061109066, -2.772017240524292, -0.050043344497680664, 2.5008418560028076, 0.7409999966621399], "max": [0.07040723413228989, 0.3910779356956482, 0.01013584528118372, -2.338934898376465, 0.0353546179831028, 3.0191121101379395, 0.9000542759895325], "mean": [0.03353945165872574, 0.246633842587471, -0.006848074495792389, -2.5056469440460205, -0.010123338550329208, 2.862365484237671, 0.8231955170631409], "std": [0.026443254202604294, 0.1231902614235878, 0.005647087469696999, 0.19073155522346497, 0.025489429011940956, 0.11532119661569595, 0.052730679512023926], "count": [253]}, "observation.eef_pose_quaternion": {"min": [0.3925935626029968, -0.0051222811453044415, 0.17953789234161377, 0.9951918721199036, -0.007860112003982067, -0.013817672617733479, -0.01078125648200512], "max": [0.5276470184326172, 0.030161429196596146, 0.2634412348270416, 0.9999925494194031, 0.0030381290707737207, 0.09764937311410904, 0.0024222286883741617], "mean": [0.47564512491226196, 0.011815774254500866, 0.19826164841651917, 0.9982577562332153, -0.00013182417023926973, 0.05508938059210777, -0.0003036113630514592], "std": [0.05983171612024307, 0.012888739816844463, 0.021371129900217056, 0.0008294834406115115, 0.0019072160357609391, 0.020858999341726303, 0.0024199048057198524], "count": [253]}, "observation.eef_pose_rotvec": {"min": [0.3925935626029968, -0.0051222811453044415, 0.17953789234161377, -3.1389846801757812, -0.024678919464349747, -0.2670591175556183], "max": [0.5276470184326172, 0.030161429196596146, 0.2634412348270416, 3.137930393218994, 0.021286675706505775, 0.30642518401145935], "mean": [0.47564512491226196, 0.011815774254500866, 0.19826164841651917, 2.0203046798706055, -0.0007126255077309906, 0.14091160893440247], "std": [0.05983171612024307, 0.012888739816844463, 0.021371129900217056, 2.3962032794952393, 0.005956477019935846, 0.11986826360225677], "count": [253]}, "observation.eef_rotation_matrix": {"min": [0.9808201789855957, -0.015855254605412483, -0.027692215517163277, -0.015474168583750725, -1.0, -0.005771832540631294, -0.027569765225052834, -0.021637583151459694, -0.9999706745147705], "max": [0.9999852776527405, 0.006082398816943169, 0.1943332701921463, 0.006059098057448864, -0.9997513890266418, 0.02148064598441124, 0.19438618421554565, 0.004127974156290293, -0.9809227585792542], "mean": [0.99305260181427, -0.0003161925415042788, 0.10995297878980637, -0.0002046778827207163, -0.9999809861183167, 0.0005419003427959979, 0.10995999723672867, -0.0006752536282874644, -0.9930480122566223], "std": [0.003331628628075123, 0.0038219003472477198, 0.041600994765758514, 0.0037827477790415287, 5.326582322595641e-05, 0.004874826408922672, 0.04158676788210869, 0.004821390379220247, 0.0032952053006738424], "count": [253]}, "observation.gripper": {"min": [0.0], "max": [0.47733813524246216], "mean": [0.09010528773069382], "std": [0.18084347248077393], "count": [253]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909554749727249, 0.019097069278359413], "mean": [0.003604199970141053, 0.0036042206920683384], "std": [0.00723371421918273, 0.007233744487166405], "count": [253]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818704932928085], "mean": [0.007208423223346472], "std": [0.01446747686713934], "count": [253]}, "timestamp": {"min": [0.0], "max": [4.2], "mean": [2.0999999999999996], "std": [1.217237309100681], "count": [253]}, "frame_index": {"min": [0], "max": [252], "mean": [126.0], "std": [73.03423854604085], "count": [253]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [253]}, "index": {"min": [15603], "max": [15855], "mean": [15729.0], "std": [73.03423854604085], "count": [253]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [253]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6271401552287581]], [[0.6028133877995643]], [[0.5742092238562091]]], "std": [[[0.18724206450337347]], [[0.19080149279170242]], [[0.20016989233524587]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9764705882352941]], [[0.9490196078431372]], [[0.9529411764705882]]], "mean": [[[0.5028592347494554]], [[0.47771977941176474]], [[0.4482553431372549]]], "std": [[[0.18269753209918896]], [[0.1859144579838221]], [[0.19045297193931524]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8]], [[0.6941176470588235]], [[0.7803921568627451]]], "mean": [[[0.33054495710784315]], [[0.40694875612745096]], [[0.4830166278594771]]], "std": [[[0.1483026852596822]], [[0.11583735858597044]], [[0.15095872595026194]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.796078431372549]], [[0.6941176470588235]], [[0.7450980392156863]]], "mean": [[[0.33029387050653597]], [[0.41728011029411766]], [[0.4798274325980392]]], "std": [[[0.14947464649955605]], [[0.1212952508491841]], [[0.15143039328266308]]], "count": [100]}}}
+{"episode_index": 68, "stats": {"observation.state": {"min": [-0.010808971710503101, 0.04653816670179367, -0.004360778257250786, -2.6746938228607178, -0.0024597924202680588, 2.500826358795166, 0.7409999966621399, 0.0], "max": [0.030121343210339546, 0.3391219675540924, 0.021548623219132423, -2.3565733432769775, 0.035355549305677414, 2.7701873779296875, 0.8350581526756287, 0.4773387908935547], "mean": [0.01333631668239832, 0.2195126712322235, 0.005924953147768974, -2.4869985580444336, 0.0019092971924692392, 2.66113018989563, 0.8021267056465149, 0.09408016502857208], "std": [0.012676999904215336, 0.09911631792783737, 0.011073917150497437, 0.13979686796665192, 0.008704731240868568, 0.07129616290330887, 0.025016844272613525, 0.1828843206167221], "count": [210]}, "observation.joint_position": {"min": [-0.010808971710503101, 0.04653816670179367, -0.004360778257250786, -2.6746938228607178, -0.0024597924202680588, 2.500826358795166, 0.7409999966621399], "max": [0.030121343210339546, 0.3391219675540924, 0.021548623219132423, -2.3565733432769775, 0.035355549305677414, 2.7701873779296875, 0.8350581526756287], "mean": [0.01333631668239832, 0.2195126712322235, 0.005924953147768974, -2.4869985580444336, 0.0019092971924692392, 2.66113018989563, 0.8021267056465149], "std": [0.012676999904215336, 0.09911631792783737, 0.011073917150497437, 0.13979686796665192, 0.008704731240868568, 0.07129616290330887, 0.025016844272613525], "count": [210]}, "observation.eef_pose_quaternion": {"min": [0.40937960147857666, -0.0051224492490291595, 0.1791674941778183, 0.9994430541992188, -0.0006237077759578824, -0.03330343961715698, -0.010781785473227501], "max": [0.5086061358451843, 0.021145617589354515, 0.2634449601173401, 0.9999063611030579, 0.004913473967462778, -0.013569990172982216, 0.0011120993876829743], "mean": [0.46738481521606445, 0.008087626658380032, 0.1986851841211319, 0.9997227191925049, 0.0005072497297078371, -0.022683702409267426, -0.00022828311193734407], "std": [0.0434979610145092, 0.0097168805077672, 0.021643195301294327, 0.0001227839820785448, 0.0011759595945477486, 0.005450524389743805, 0.0026669902727007866], "count": [210]}, "observation.eef_pose_rotvec": {"min": [0.40937960147857666, -0.0051224492490291595, 0.1791674941778183, -3.140984296798706, -0.015389406122267246, -0.10373544692993164], "max": [0.5086061358451843, 0.021145617589354515, 0.2634449601173401, 3.1411006450653076, 0.0053521376103162766, 0.10458827018737793], "mean": [0.46738481521606445, 0.008087626658380032, 0.1986851841211319, 1.7353553771972656, -0.001474700402468443, -0.03907719999551773], "std": [0.0434979610145092, 0.0097168805077672, 0.021643195301294327, 2.614626407623291, 0.0037321492563933134, 0.06195941939949989], "count": [210]}, "observation.eef_rotation_matrix": {"min": [0.9977735280990601, -0.0012034716783091426, -0.06657207012176514, -0.0012907646596431732, -1.0, -0.002218137262389064, -0.06656749546527863, -0.021638652309775352, -0.9996286034584045], "max": [0.9996258020401001, 0.009594494476914406, -0.027186529710888863, 0.010053264908492565, -0.9997513890266418, 0.021481694653630257, -0.027085362002253532, 0.0022315981332212687, -0.9977810978889465], "mean": [0.9989079236984253, 0.0010093030286952853, -0.045358043164014816, 0.0010190887842327356, -0.9999836683273315, 0.0004336962301749736, -0.04534906521439552, -0.00047923813690431416, -0.9988968372344971], "std": [0.0005048401071690023, 0.00228718644939363, 0.010887972079217434, 0.0024166975636035204, 5.2313967898953706e-05, 0.005305696744471788, 0.010896456427872181, 0.005360774230211973, 0.0004909925628453493], "count": [210]}, "observation.gripper": {"min": [0.0], "max": [0.4773387908935547], "mean": [0.09408019483089447], "std": [0.1828843206167221], "count": [210]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019098125398159027, 0.019096313044428825], "mean": [0.0037631946615874767, 0.003763218643143773], "std": [0.007315330673009157, 0.007315414492040873], "count": [210]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818710148334503], "mean": [0.00752641586586833], "std": [0.014630744233727455], "count": [210]}, "timestamp": {"min": [0.0], "max": [3.4833333333333334], "mean": [1.7416666666666667], "std": [1.0103515156544207], "count": [210]}, "frame_index": {"min": [0], "max": [209], "mean": [104.5], "std": [60.621090939265244], "count": [210]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [210]}, "index": {"min": [15856], "max": [16065], "mean": [15960.5], "std": [60.621090939265244], "count": [210]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [210]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.621747962962963]], [[0.6002624346405229]], [[0.5704723366013073]]], "std": [[[0.18626515010743247]], [[0.19108051262260548]], [[0.19956271036116335]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9372549019607843]], [[0.9450980392156862]]], "mean": [[[0.4983152805010893]], [[0.4706814351851852]], [[0.442872151416122]]], "std": [[[0.18434764262956166]], [[0.1861776929813564]], [[0.19037981975722726]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7294117647058823]], [[0.6941176470588235]], [[0.796078431372549]]], "mean": [[[0.3304147222222222]], [[0.4087467054738562]], [[0.4817589236111111]]], "std": [[[0.1458767266804541]], [[0.1156531699983157]], [[0.15249504720946921]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7411764705882353]], [[0.6941176470588235]], [[0.7803921568627451]]], "mean": [[[0.3278064808006536]], [[0.41908563725490194]], [[0.48095820261437905]]], "std": [[[0.1451338595613418]], [[0.12158646203544515]], [[0.15473445759983145]]], "count": [100]}}}
+{"episode_index": 69, "stats": {"observation.state": {"min": [-0.010820253752171993, 0.06788193434476852, -0.006036656443029642, -2.763821601867676, -0.019686521962285042, 2.500828504562378, 0.7409999966621399, 0.0], "max": [0.03078143112361431, 0.2981894612312317, 0.008170533925294876, -2.4330358505249023, 0.03535478934645653, 3.068631887435913, 0.8292515873908997, 0.47733592987060547], "mean": [0.012149669229984283, 0.19889245927333832, 0.0003786139714065939, -2.575359582901001, -0.009983294643461704, 2.8658716678619385, 0.8073005080223083, 0.10627399384975433], "std": [0.018099533393979073, 0.07546716183423996, 0.005787275265902281, 0.1315576583147049, 0.013485480099916458, 0.1462697833776474, 0.023890791460871696, 0.19211363792419434], "count": [219]}, "observation.joint_position": {"min": [-0.010820253752171993, 0.06788193434476852, -0.006036656443029642, -2.763821601867676, -0.019686521962285042, 2.500828504562378, 0.7409999966621399], "max": [0.03078143112361431, 0.2981894612312317, 0.008170533925294876, -2.4330358505249023, 0.03535478934645653, 3.068631887435913, 0.8292515873908997], "mean": [0.012149669229984283, 0.19889245927333832, 0.0003786139714065939, -2.575359582901001, -0.009983294643461704, 2.8658716678619385, 0.8073005080223083], "std": [0.018099533393979073, 0.07546716183423996, 0.005787275265902281, 0.1315576583147049, 0.013485480099916458, 0.1462697833776474, 0.023890791460871696], "count": [219]}, "observation.eef_pose_quaternion": {"min": [0.3989608883857727, -0.005122194066643715, 0.1809629499912262, 0.9966186285018921, -0.0017758539179340005, -0.013818841427564621, -0.010781393386423588], "max": [0.48561644554138184, 0.012790202163159847, 0.2634483575820923, 0.9999785423278809, 0.002839874941855669, 0.08215823024511337, 0.0033000167459249496], "mean": [0.4539405405521393, 0.006712355185300112, 0.2001163363456726, 0.9985949397087097, 0.00020982588466722518, 0.04585297033190727, 0.0006901314482092857], "std": [0.037191927433013916, 0.006347347516566515, 0.020719943568110466, 0.001184703316539526, 0.0008405678672716022, 0.026316670700907707, 0.0032874555326998234], "count": [219]}, "observation.eef_pose_rotvec": {"min": [0.3989608883857727, -0.005122194066643715, 0.1809629499912262, -3.135728597640991, -0.008861009031534195, -0.25801676511764526], "max": [0.48561644554138184, 0.012790202163159847, 0.2634483575820923, 3.1359055042266846, 0.0050315228290855885, 0.24576298892498016], "mean": [0.4539405405521393, 0.006712355185300112, 0.2001163363456726, 1.7895762920379639, -0.0011898826342076063, 0.08804181218147278], "std": [0.037191927433013916, 0.006347347516566515, 0.020719943568110466, 2.5712356567382812, 0.0024349726736545563, 0.14075878262519836], "count": [219]}, "observation.eef_rotation_matrix": {"min": [0.9864984154701233, -0.0035458803176879883, -0.02769455872476101, -0.0035404465161263943, -1.0, -0.006611076183617115, -0.02757209725677967, -0.02163785882294178, -0.9999198913574219], "max": [0.9999873638153076, 0.005380955524742603, 0.16375987231731415, 0.005976754706352949, -0.9997513890266418, 0.021480921655893326, 0.16376188397407532, 0.006583452690392733, -0.9864994287490845], "mean": [0.9944087862968445, 0.00032476490014232695, 0.0915137231349945, 0.0005136440158821642, -0.999978244304657, -0.0013742734445258975, 0.09152238816022873, 0.0013843090273439884, -0.9943869709968567], "std": [0.004752891603857279, 0.0016874551074579358, 0.05245647951960564, 0.0016791512025520205, 5.217137368163094e-05, 0.006569746416062117, 0.05244012549519539, 0.006577562540769577, 0.004731697030365467], "count": [219]}, "observation.gripper": {"min": [0.0], "max": [0.47733592987060547], "mean": [0.10627409815788269], "std": [0.19211353361606598], "count": [219]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019093822687864304, 0.019094012677669525], "mean": [0.004250956233590841, 0.004250968806445599], "std": [0.00768454372882843, 0.007684527430683374], "count": [219]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186874240636826], "mean": [0.008501927368342876], "std": [0.015369082801043987], "count": [219]}, "timestamp": {"min": [0.0], "max": [3.6333333333333333], "mean": [1.8166666666666669], "std": [1.0536532566196457], "count": [219]}, "frame_index": {"min": [0], "max": [218], "mean": [109.0], "std": [63.219195397178744], "count": [219]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [219]}, "index": {"min": [16066], "max": [16284], "mean": [16175.0], "std": [63.219195397178744], "count": [219]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [219]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.623645552832244]], [[0.5989437663398692]], [[0.5685964460784314]]], "std": [[[0.1805230722847814]], [[0.19063144178364233]], [[0.19910085517038725]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9411764705882353]], [[0.9607843137254902]]], "mean": [[[0.509194447167756]], [[0.46959521241830066]], [[0.44068603213507623]]], "std": [[[0.19253936833440174]], [[0.19129391789450353]], [[0.19650830394081298]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.788235294117647]], [[0.6862745098039216]], [[0.7529411764705882]]], "mean": [[[0.33351591707516337]], [[0.40793503880718957]], [[0.4828489358660131]]], "std": [[[0.14697485824521656]], [[0.11585887252529611]], [[0.14959886442693046]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8431372549019608]], [[0.6862745098039216]], [[0.7529411764705882]]], "mean": [[[0.3321622487745098]], [[0.41941306985294113]], [[0.48347086601307193]]], "std": [[[0.1438609382688995]], [[0.12255189397572257]], [[0.15157554432313466]]], "count": [100]}}}
+{"episode_index": 70, "stats": {"observation.state": {"min": [-0.08680550754070282, -0.01602688431739807, -0.013445418328046799, -2.8916237354278564, -0.007104403804987669, 2.5008320808410645, 0.6721876263618469, 0.0], "max": [0.06531792879104614, 0.37660035490989685, 0.04541349411010742, -2.3817269802093506, 0.07394476234912872, 3.126178741455078, 0.8483870029449463, 0.4773363471031189], "mean": [0.002024308079853654, 0.21384896337985992, 0.010665500536561012, -2.5769765377044678, 0.025792399421334267, 2.934556484222412, 0.7727770209312439, 0.10154742747545242], "std": [0.06771784275770187, 0.14043350517749786, 0.02531028538942337, 0.22692552208900452, 0.03340684249997139, 0.14506638050079346, 0.0758274644613266, 0.18954774737358093], "count": [248]}, "observation.joint_position": {"min": [-0.08680550754070282, -0.01602688431739807, -0.013445418328046799, -2.8916237354278564, -0.007104403804987669, 2.5008320808410645, 0.6721876263618469], "max": [0.06531792879104614, 0.37660035490989685, 0.04541349411010742, -2.3817269802093506, 0.07394476234912872, 3.126178741455078, 0.8483870029449463], "mean": [0.002024308079853654, 0.21384896337985992, 0.010665500536561012, -2.5769765377044678, 0.025792399421334267, 2.934556484222412, 0.7727770209312439], "std": [0.06771784275770187, 0.14043350517749786, 0.02531028538942337, 0.22692552208900452, 0.03340684249997139, 0.14506638050079346, 0.0758274644613266], "count": [248]}, "observation.eef_pose_quaternion": {"min": [0.3576170802116394, -0.0201369971036911, 0.17991653084754944, 0.9952271580696106, -0.00797425676137209, -0.01382087729871273, -0.01090310513973236], "max": [0.518508791923523, 0.027540063485503197, 0.2634461522102356, 0.9999344944953918, 0.005794997327029705, 0.09714823216199875, 0.0007659047842025757], "mean": [0.4557817876338959, 0.006885364651679993, 0.19850170612335205, 0.9971498847007751, 0.00023039914958644658, 0.07188226282596588, -0.00213541928678751], "std": [0.07131395488977432, 0.02207091636955738, 0.0226913932710886, 0.0009361974080093205, 0.001947062206454575, 0.02251690998673439, 0.002800306770950556], "count": [248]}, "observation.eef_pose_rotvec": {"min": [0.3576170802116394, -0.0201369971036911, 0.17991653084754944, -3.135321617126465, -0.018123909831047058, -0.30371835827827454], "max": [0.518508791923523, 0.027540063485503197, 0.2634461522102356, 3.1342275142669678, 0.024925533682107925, 0.23903104662895203], "mean": [0.4557817876338959, 0.006885364651679993, 0.19850170612335205, -2.673612356185913, -0.0006260055815801024, -0.1918473094701767], "std": [0.07131395488977432, 0.02207091636955738, 0.0226913932710886, 1.62425696849823, 0.00610160268843174, 0.1381089836359024], "count": [248]}, "observation.eef_rotation_matrix": {"min": [0.981071949005127, -0.015437004156410694, -0.027698621153831482, -0.01644214242696762, -1.0, -0.0013599409721791744, -0.027576174587011337, -0.02179977297782898, -0.9997670650482178], "max": [0.9999708533287048, 0.012895708903670311, 0.19329048693180084, 0.01017620787024498, -0.9997215867042542, 0.021818265318870544, 0.19344773888587952, 0.0016949757700785995, -0.9810066819190979], "mean": [0.9886442422866821, 0.0006763165001757443, 0.14331375062465668, 0.00023870736185926944, -0.9999706149101257, 0.004320494364947081, 0.14331617951393127, -0.004201936535537243, -0.9886266589164734], "std": [0.0037747242022305727, 0.003975667059421539, 0.044870246201753616, 0.0038188835605978966, 7.133341568987817e-05, 0.005627600010484457, 0.04488064721226692, 0.005572951398789883, 0.003743894398212433], "count": [248]}, "observation.gripper": {"min": [0.0], "max": [0.4773363471031189], "mean": [0.1015474870800972], "std": [0.18954753875732422], "count": [248]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909455470740795, 0.019094791263341904], "mean": [0.0040618847124278545, 0.00406190799549222], "std": [0.007581908255815506, 0.0075819119811058044], "count": [248]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818690776824951], "mean": [0.008123798295855522], "std": [0.015163802541792393], "count": [248]}, "timestamp": {"min": [0.0], "max": [4.116666666666666], "mean": [2.0583333333333336], "std": [1.1931808561804684], "count": [248]}, "frame_index": {"min": [0], "max": [247], "mean": [123.5], "std": [71.5908513708281], "count": [248]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [248]}, "index": {"min": [16285], "max": [16532], "mean": [16408.5], "std": [71.5908513708281], "count": [248]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [248]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.631158227124183]], [[0.6036478676470588]], [[0.5741733932461873]]], "std": [[[0.17730112372403461]], [[0.1879083477270775]], [[0.19665870859872872]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9490196078431372]], [[0.9647058823529412]]], "mean": [[[0.5024964896514161]], [[0.47965564270152505]], [[0.450600348583878]]], "std": [[[0.1835133271505274]], [[0.18584123336533417]], [[0.1905834430421626]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8117647058823529]], [[0.6823529411764706]], [[0.7764705882352941]]], "mean": [[[0.33235702205882356]], [[0.40530527573529407]], [[0.4823735089869281]]], "std": [[[0.14907237409990073]], [[0.11535969868521392]], [[0.15045798704643507]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8352941176470589]], [[0.6941176470588235]], [[0.7450980392156863]]], "mean": [[[0.3305252532679739]], [[0.4152073611111111]], [[0.48045958741830064]]], "std": [[[0.14895556335651508]], [[0.1205237637548607]], [[0.151165383769345]]], "count": [100]}}}
+{"episode_index": 71, "stats": {"observation.state": {"min": [-0.036944154649972916, -0.008269653655588627, -0.029919475317001343, -2.8775928020477295, 0.01787596195936203, 2.5008509159088135, 0.6972336769104004, 0.0], "max": [-0.004545216914266348, 0.36294078826904297, 0.0007344270125031471, -2.331544876098633, 0.04035799950361252, 3.0153794288635254, 0.7409999966621399, 0.4773358106613159], "mean": [-0.018184533342719078, 0.20339219272136688, -0.021405944600701332, -2.5416789054870605, 0.027430150657892227, 2.77820086479187, 0.721777617931366, 0.09653384238481522], "std": [0.012203999795019627, 0.1307540237903595, 0.00791513454169035, 0.2336793839931488, 0.007085313554853201, 0.1545456200838089, 0.013636673800647259, 0.1862368881702423], "count": [264]}, "observation.joint_position": {"min": [-0.036944154649972916, -0.008269653655588627, -0.029919475317001343, -2.8775928020477295, 0.01787596195936203, 2.5008509159088135, 0.6972336769104004], "max": [-0.004545216914266348, 0.36294078826904297, 0.0007344270125031471, -2.331544876098633, 0.04035799950361252, 3.0153794288635254, 0.7409999966621399], "mean": [-0.018184533342719078, 0.20339219272136688, -0.021405944600701332, -2.5416789054870605, 0.027430150657892227, 2.77820086479187, 0.721777617931366], "std": [0.012203999795019627, 0.1307540237903595, 0.00791513454169035, 0.2336793839931488, 0.007085313554853201, 0.1545456200838089, 0.013636673800647259], "count": [264]}, "observation.eef_pose_quaternion": {"min": [0.35431531071662903, -0.021348925307393074, 0.17912575602531433, 0.9985640048980713, -0.006978621706366539, -0.013819390907883644, -0.01078107487410307], "max": [0.5192908048629761, -0.0051219267770648, 0.26343750953674316, 0.999998152256012, 0.002841291483491659, 0.05355615168809891, 0.0003320838150102645], "mean": [0.4570627808570862, -0.0191687922924757, 0.19967077672481537, 0.999674379825592, -0.00025692276540212333, 0.016698407009243965, -0.0012420880375429988], "std": [0.07003217190504074, 0.003412453690543771, 0.020881550386548042, 0.0004076475743204355, 0.0014320880873128772, 0.01909090206027031, 0.0023955320939421654], "count": [264]}, "observation.eef_pose_rotvec": {"min": [0.35431531071662903, -0.021348925307393074, 0.17912575602531433, -3.140394926071167, -0.008865450508892536, -0.11857540160417557], "max": [0.5192908048629761, -0.0051219267770648, 0.26343750953674316, 3.1394174098968506, 0.02188015729188919, 0.1682368516921997], "mean": [0.4570627808570862, -0.0191687922924757, 0.19967077672481537, -2.0205955505371094, 0.001640627277083695, -0.003365755546838045], "std": [0.07003217190504074, 0.003412453690543771, 0.020881550386548042, 2.40090012550354, 0.004254460334777832, 0.07959648221731186], "count": [264]}, "observation.eef_rotation_matrix": {"min": [0.994260311126709, -0.013959686271846294, -0.027695653960108757, -0.0139539809897542, -1.0, -0.0005390533478930593, -0.027573201805353165, -0.021637234836816788, -0.9999929070472717], "max": [0.999995231628418, 0.005385953467339277, 0.10695884376764297, 0.005977437365800142, -0.9997513890266418, 0.021480273455381393, 0.10695815086364746, 0.0007993404869921505, -0.9942634105682373], "mean": [0.9987089037895203, -0.0005253952695056796, 0.03337106853723526, -0.0005026897415518761, -0.9999820590019226, 0.002484638011083007, 0.03337138891220093, -0.0024833923671394587, -0.9986982345581055], "std": [0.0016381071181967854, 0.0028370264917612076, 0.038149215281009674, 0.0028911633417010307, 5.347033584257588e-05, 0.004775439389050007, 0.038145191967487335, 0.004806014243513346, 0.0016312738880515099], "count": [264]}, "observation.gripper": {"min": [0.0], "max": [0.4773358106613159], "mean": [0.09653396159410477], "std": [0.18623735010623932], "count": [264]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909458264708519, 0.019094381481409073], "mean": [0.0038613618817180395, 0.0038613518700003624], "std": [0.007449512369930744, 0.007449491415172815], "count": [264]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818686306476593], "mean": [0.007722717244178057], "std": [0.014898987486958504], "count": [264]}, "timestamp": {"min": [0.0], "max": [4.383333333333334], "mean": [2.191666666666667], "std": [1.2701614799643333], "count": [264]}, "frame_index": {"min": [0], "max": [263], "mean": [131.5], "std": [76.20968879786], "count": [264]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [264]}, "index": {"min": [16533], "max": [16796], "mean": [16664.5], "std": [76.20968879786], "count": [264]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [264]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.626487126906318]], [[0.6006178376906318]], [[0.5712015032679739]]], "std": [[[0.18454641392212093]], [[0.1916772500113887]], [[0.20082204628168732]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9607843137254902]], [[0.9529411764705882]]], "mean": [[[0.5033073692810457]], [[0.47699253540305014]], [[0.44865317810457517]]], "std": [[[0.1836595000535798]], [[0.18571768267414962]], [[0.18990386232456685]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8470588235294118]], [[0.6980392156862745]], [[0.7764705882352941]]], "mean": [[[0.3327821977124183]], [[0.40678916258169934]], [[0.4836053125]]], "std": [[[0.14662657207503002]], [[0.11523646020956524]], [[0.1498718060748514]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8627450980392157]], [[0.6901960784313725]], [[0.7764705882352941]]], "mean": [[[0.33083839256535946]], [[0.4167186683006536]], [[0.48261873366013075]]], "std": [[[0.14515752661216552]], [[0.12071140603661785]], [[0.1514443635956915]]], "count": [100]}}}
+{"episode_index": 72, "stats": {"observation.state": {"min": [-0.034461818635463715, 0.08910340815782547, -0.023731525987386703, -2.670513868331909, -0.0006527685327455401, 2.500788450241089, 0.7239388227462769, 0.0], "max": [0.018685273826122284, 0.37067273259162903, 0.0007339239818975329, -2.298828363418579, 0.035700179636478424, 2.8143975734710693, 0.7892377376556396, 0.477338969707489], "mean": [-0.005207120440900326, 0.24878214299678802, -0.013441718183457851, -2.4517650604248047, 0.007277895230799913, 2.669748067855835, 0.7624385952949524, 0.09545290470123291], "std": [0.02222197689116001, 0.10330691933631897, 0.00481187179684639, 0.1606816053390503, 0.007283104117959738, 0.09234154969453812, 0.0254331286996603, 0.18402206897735596], "count": [212]}, "observation.joint_position": {"min": [-0.034461818635463715, 0.08910340815782547, -0.023731525987386703, -2.670513868331909, -0.0006527685327455401, 2.500788450241089, 0.7239388227462769], "max": [0.018685273826122284, 0.37067273259162903, 0.0007339239818975329, -2.298828363418579, 0.035700179636478424, 2.8143975734710693, 0.7892377376556396], "mean": [-0.005207120440900326, 0.24878214299678802, -0.013441718183457851, -2.4517650604248047, 0.007277895230799913, 2.669748067855835, 0.7624385952949524], "std": [0.02222197689116001, 0.10330691933631897, 0.00481187179684639, 0.1606816053390503, 0.007283104117959738, 0.09234154969453812, 0.0254331286996603], "count": [212]}, "observation.eef_pose_quaternion": {"min": [0.41312864422798157, -0.024495098739862442, 0.17910808324813843, 0.9996735453605652, -0.016277896240353584, -0.025521285831928253, -0.010793947614729404], "max": [0.5252047181129456, 0.003016705857589841, 0.26345688104629517, 0.9999763369560242, 0.005589576903730631, -0.0066628288477659225, 0.0010131276212632656], "mean": [0.47902023792266846, -0.008179192431271076, 0.1969418078660965, 0.9998646974563599, -0.0008199035655707121, -0.015366754494607449, -0.0003725078422576189], "std": [0.047955472022295, 0.01052233949303627, 0.020170308649539948, 7.146775897126645e-05, 0.0032389077823609114, 0.004142318852245808, 0.002663504332304001], "count": [212]}, "observation.eef_pose_rotvec": {"min": [0.41312864422798157, -0.024495098739862442, 0.17910808324813843, -3.141432523727417, -0.023410897701978683, -0.07420210540294647], "max": [0.5252047181129456, 0.003016705857589841, 0.26345688104629517, 3.141423463821411, 0.05112028121948242, 0.08015518635511398], "mean": [0.47902023792266846, -0.008179192431271076, 0.1969418078660965, 0.9193495512008667, 0.0005027329316362739, -0.018009573221206665], "std": [0.047955472022295, 0.01052233949303627, 0.020170308649539948, 3.0011143684387207, 0.01047770120203495, 0.04660051316022873], "count": [212]}, "observation.eef_rotation_matrix": {"min": [0.9986953139305115, -0.03256571665406227, -0.05102680251002312, -0.03252806514501572, -1.0, -0.001912938547320664, -0.051025040447711945, -0.02163698896765709, -0.9999111890792847], "max": [0.9999051690101624, 0.01101104449480772, -0.01332494430243969, 0.011343030259013176, -0.9994694590568542, 0.021545162424445152, -0.013325737789273262, 0.002143871271982789, -0.9986969232559204], "mean": [0.9994710087776184, -0.0016486775130033493, -0.030731070786714554, -0.0016302404692396522, -0.9999638199806213, 0.0007723300950601697, -0.030726497992873192, -0.0007174445199780166, -0.9994789958000183], "std": [0.00028509434196166694, 0.006463458761572838, 0.00828137993812561, 0.006490268744528294, 9.606455569155514e-05, 0.005309877451509237, 0.008281029760837555, 0.00534447655081749, 0.000271456636255607], "count": [212]}, "observation.gripper": {"min": [0.0], "max": [0.477338969707489], "mean": [0.09545294940471649], "std": [0.18402191996574402], "count": [212]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019097167998552322, 0.01909887045621872], "mean": [0.0038181531708687544, 0.0038180802948772907], "std": [0.007360902149230242, 0.007360849529504776], "count": [212]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038187116384506226], "mean": [0.007636235095560551], "std": [0.014721754007041454], "count": [212]}, "timestamp": {"min": [0.0], "max": [3.5166666666666666], "mean": [1.7583333333333333], "std": [1.0199741282121926], "count": [212]}, "frame_index": {"min": [0], "max": [211], "mean": [105.5], "std": [61.198447692731555], "count": [212]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [212]}, "index": {"min": [16797], "max": [17008], "mean": [16902.5], "std": [61.198447692731555], "count": [212]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [212]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.625708660130719]], [[0.5998318436819172]], [[0.5708890822440087]]], "std": [[[0.18360712685829017]], [[0.19210365802538537]], [[0.20128562965758218]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9333333333333333]], [[0.9490196078431372]]], "mean": [[[0.5001983197167756]], [[0.4716704602396514]], [[0.44341555010893247]]], "std": [[[0.18407635137583392]], [[0.1863325522894818]], [[0.19055814800510074]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7294117647058823]], [[0.6823529411764706]], [[0.7764705882352941]]], "mean": [[[0.33274258986928107]], [[0.4060475980392157]], [[0.4793664154411765]]], "std": [[[0.14877017121778993]], [[0.1150735842571866]], [[0.15130172360948346]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7254901960784313]], [[0.6980392156862745]], [[0.7647058823529411]]], "mean": [[[0.3266394791666667]], [[0.4184359109477124]], [[0.4809715420751634]]], "std": [[[0.14439876852602923]], [[0.1214137430041547]], [[0.15503138312087628]]], "count": [100]}}}
+{"episode_index": 73, "stats": {"observation.state": {"min": [-0.010868334211409092, 0.0700206607580185, -0.011139779351651669, -2.6997339725494385, -0.007310592569410801, 2.5007805824279785, 0.7409999966621399, 0.0], "max": [0.03652442619204521, 0.379118412733078, 0.03186190128326416, -2.317509174346924, 0.03535556420683861, 2.8719067573547363, 0.8043575882911682, 0.47733739018440247], "mean": [0.0038712776731699705, 0.24348844587802887, -0.00038556396611966193, -2.476346492767334, 0.0025657478254288435, 2.733431100845337, 0.7816164493560791, 0.09626246988773346], "std": [0.0078044794499874115, 0.11189575493335724, 0.010275498032569885, 0.17203061282634735, 0.009001445025205612, 0.0950610414147377, 0.01704137772321701, 0.18474264442920685], "count": [217]}, "observation.joint_position": {"min": [-0.010868334211409092, 0.0700206607580185, -0.011139779351651669, -2.6997339725494385, -0.007310592569410801, 2.5007805824279785, 0.7409999966621399], "max": [0.03652442619204521, 0.379118412733078, 0.03186190128326416, -2.317509174346924, 0.03535556420683861, 2.8719067573547363, 0.8043575882911682], "mean": [0.0038712776731699705, 0.24348844587802887, -0.00038556396611966193, -2.476346492767334, 0.0025657478254288435, 2.733431100845337, 0.7816164493560791], "std": [0.0078044794499874115, 0.11189575493335724, 0.010275498032569885, 0.17203061282634735, 0.009001445025205612, 0.0950610414147377, 0.01704137772321701], "count": [217]}, "observation.eef_pose_quaternion": {"min": [0.4090892970561981, -0.00648577231913805, 0.1791079044342041, 0.998956561088562, -0.0010978623759001493, -0.025354083627462387, -0.010782318189740181], "max": [0.526559054851532, 0.031464964151382446, 0.2634596526622772, 0.9999980926513672, 0.04323143512010574, 0.02105853706598282, 0.001190934213809669], "mean": [0.47614091634750366, 0.0009649491403251886, 0.19696953892707825, 0.9998920559883118, 0.0027318978682160378, 0.006812375038862228, -0.0002590213844086975], "std": [0.05269385501742363, 0.008169999346137047, 0.020183248445391655, 0.0001592711196281016, 0.007967441342771053, 0.009539403952658176, 0.0026549003086984158], "count": [217]}, "observation.eef_pose_rotvec": {"min": [0.4090892970561981, -0.00648577231913805, 0.1791079044342041, -3.1415414810180664, -0.13576683402061462, -0.027689654380083084], "max": [0.526559054851532, 0.031464964151382446, 0.2634596526622772, 3.141524076461792, 0.06497400254011154, 0.07938462495803833], "mean": [0.47614091634750366, 0.0009649491403251886, 0.19696953892707825, 1.1152998208999634, -0.006122944876551628, 0.026186393573880196], "std": [0.05269385501742363, 0.008169999346137047, 0.020183248445391655, 2.9339656829833984, 0.025725940242409706, 0.025822579860687256], "count": [217]}, "observation.eef_rotation_matrix": {"min": [0.9958290457725525, -0.0022271329071372747, -0.05083291605114937, -0.0021638183388859034, -1.0, -0.0023850894067436457, -0.050539687275886536, -0.021639766171574593, -1.0], "max": [0.9999924898147583, 0.08635605871677399, 0.04210750013589859, 0.08638924360275269, -0.996261477470398, 0.02148270420730114, 0.042107924818992615, 0.0023775885347276926, -0.9986581802368164], "mean": [0.9995831847190857, 0.005424166098237038, 0.013614808209240437, 0.005497507750988007, -0.9998447895050049, 0.000461968855233863, 0.013635260984301567, -0.0005735957529395819, -0.9997109770774841], "std": [0.0006311301258392632, 0.015912238508462906, 0.019101111218333244, 0.01593441143631935, 0.0005807378911413252, 0.005247164983302355, 0.019046995788812637, 0.005378129426389933, 0.0002281562046846375], "count": [217]}, "observation.gripper": {"min": [0.0], "max": [0.47733739018440247], "mean": [0.09626252949237823], "std": [0.184742733836174], "count": [217]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019096700474619865, 0.019097356125712395], "mean": [0.00385047635063529, 0.003850522916764021], "std": [0.00738971633836627, 0.007389690726995468], "count": [217]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818698972463608], "mean": [0.007701001595705748], "std": [0.014779416844248772], "count": [217]}, "timestamp": {"min": [0.0], "max": [3.6], "mean": [1.8], "std": [1.044030650891055], "count": [217]}, "frame_index": {"min": [0], "max": [216], "mean": [108.0], "std": [62.6418390534633], "count": [217]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [217]}, "index": {"min": [17009], "max": [17225], "mean": [17117.0], "std": [62.6418390534633], "count": [217]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [217]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.626200582788671]], [[0.6007744335511983]], [[0.5720096840958606]]], "std": [[[0.18617828355805222]], [[0.1920762499326759]], [[0.20090716639630254]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9411764705882353]], [[0.9568627450980393]]], "mean": [[[0.4990923148148148]], [[0.47443671023965145]], [[0.4459721541394336]]], "std": [[[0.18401684585968664]], [[0.186121336797473]], [[0.1904872014183839]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7803921568627451]], [[0.6901960784313725]], [[0.7529411764705882]]], "mean": [[[0.330137914624183]], [[0.40765403799019606]], [[0.48168070057189544]]], "std": [[[0.14748849912471995]], [[0.11562865611973112]], [[0.1518130143127503]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7333333333333333]], [[0.6901960784313725]], [[0.7568627450980392]]], "mean": [[[0.3284128594771242]], [[0.4194176838235294]], [[0.48069886846405224]]], "std": [[[0.14704388413253122]], [[0.12164328805279254]], [[0.1536023301913258]]], "count": [100]}}}
+{"episode_index": 74, "stats": {"observation.state": {"min": [-0.0939004197716713, 0.02757261134684086, -0.019909419119358063, -2.7820937633514404, -0.028089327737689018, 2.500838041305542, 0.7015644907951355, 0.0], "max": [0.0070234364829957485, 0.3536323606967926, 0.047788213938474655, -2.4330358505249023, 0.039917461574077606, 3.1043474674224854, 0.8042528629302979, 0.47733598947525024], "mean": [-0.03355296701192856, 0.2220907211303711, 0.008496655151247978, -2.565751075744629, 0.0008113746298477054, 2.965548038482666, 0.7606713175773621, 0.09218636900186539], "std": [0.04414978623390198, 0.10992813855409622, 0.028780456632375717, 0.15242961049079895, 0.02686147205531597, 0.12599501013755798, 0.04284070432186127, 0.18286846578121185], "count": [268]}, "observation.joint_position": {"min": [-0.0939004197716713, 0.02757261134684086, -0.019909419119358063, -2.7820937633514404, -0.028089327737689018, 2.500838041305542, 0.7015644907951355], "max": [0.0070234364829957485, 0.3536323606967926, 0.047788213938474655, -2.4330358505249023, 0.039917461574077606, 3.1043474674224854, 0.8042528629302979], "mean": [-0.03355296701192856, 0.2220907211303711, 0.008496655151247978, -2.565751075744629, 0.0008113746298477054, 2.965548038482666, 0.7606713175773621], "std": [0.04414978623390198, 0.10992813855409622, 0.028780456632375717, 0.15242961049079895, 0.02686147205531597, 0.12599501013755798, 0.04284070432186127], "count": [268]}, "observation.eef_pose_quaternion": {"min": [0.3974969983100891, -0.021022925153374672, 0.18200469017028809, 0.9923452138900757, -0.00146646483335644, -0.013822261244058609, -0.010781277902424335], "max": [0.5069848895072937, -0.004486674442887306, 0.2634381651878357, 0.9999749064445496, 0.003913432825356722, 0.12345416843891144, 0.006552484817802906], "mean": [0.46382230520248413, -0.010826263576745987, 0.20150358974933624, 0.9956176280975342, -0.00028086817474104464, 0.08879106491804123, 0.0023700923193246126], "std": [0.0482599213719368, 0.007169771008193493, 0.021479761227965355, 0.0015704132383689284, 0.0014172263909131289, 0.028863534331321716, 0.004324628971517086], "count": [268]}, "observation.eef_pose_rotvec": {"min": [0.3974969983100891, -0.021022925153374672, 0.18200469017028809, -3.134605884552002, -0.012291272170841694, -0.387810081243515], "max": [0.5069848895072937, -0.004486674442887306, 0.2634381651878357, 3.133408784866333, 0.008786226622760296, 0.3870360255241394], "mean": [0.46382230520248413, -0.010826263576745987, 0.20150358974933624, 1.907401442527771, -0.0027062897570431232, 0.21198971569538116], "std": [0.0482599213719368, 0.007169771008193493, 0.021479761227965355, 2.4696028232574463, 0.003627404337748885, 0.2017328292131424], "count": [268]}, "observation.eef_rotation_matrix": {"min": [0.9694984555244446, -0.004113814327865839, -0.027701392769813538, -0.002900869818404317, -1.0, -0.013307616114616394, -0.027578935027122498, -0.021637655794620514, -0.9999011754989624], "max": [0.9999942779541016, 0.007866967469453812, 0.24501751363277435, 0.00767818558961153, -0.9997513890266418, 0.021480655297636986, 0.24501918256282806, 0.012769280932843685, -0.9695181250572205], "mean": [0.9825620651245117, -0.0011816045735031366, 0.1767071783542633, 6.532167026307434e-05, -0.9999463558197021, -0.004790888167917728, 0.17672890424728394, 0.0046270377933979034, -0.9825170636177063], "std": [0.006273859646171331, 0.0032757080625742674, 0.05740347132086754, 0.002436962677165866, 5.519454134628177e-05, 0.008759408257901669, 0.05739044025540352, 0.00849040225148201, 0.006259760353714228], "count": [268]}, "observation.gripper": {"min": [0.0], "max": [0.47733598947525024], "mean": [0.09218645840883255], "std": [0.1828685849905014], "count": [268]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094645977020264, 0.01909444108605385], "mean": [0.0036874592769891024, 0.0036874539218842983], "std": [0.007314742077142, 0.007314745802432299], "count": [268]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186877965927124], "mean": [0.007374916225671768], "std": [0.01462948601692915], "count": [268]}, "timestamp": {"min": [0.0], "max": [4.45], "mean": [2.2249999999999996], "std": [1.2894066249420486], "count": [268]}, "frame_index": {"min": [0], "max": [267], "mean": [133.5], "std": [77.36439749652291], "count": [268]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [268]}, "index": {"min": [17226], "max": [17493], "mean": [17359.5], "std": [77.36439749652291], "count": [268]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [268]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.626306508714597]], [[0.6002234150326797]], [[0.571852331154684]]], "std": [[[0.18649463075208864]], [[0.19197424841221294]], [[0.2010733528420962]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9372549019607843]], [[0.9490196078431372]]], "mean": [[[0.5053968191721133]], [[0.48131103758169935]], [[0.451433022875817]]], "std": [[[0.18412776044570103]], [[0.18528179055530752]], [[0.1904303387524878]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7725490196078432]], [[0.6784313725490196]], [[0.7529411764705882]]], "mean": [[[0.33393968545751634]], [[0.4071659967320262]], [[0.48115684232026146]]], "std": [[[0.1496363956197938]], [[0.11597983706890191]], [[0.14963655325635106]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8156862745098039]], [[0.6862745098039216]], [[0.7529411764705882]]], "mean": [[[0.33157151348039215]], [[0.42005071895424834]], [[0.4827711172385621]]], "std": [[[0.1464003073565483]], [[0.12258765483926103]], [[0.1516730729504455]]], "count": [100]}}}
+{"episode_index": 75, "stats": {"observation.state": {"min": [-0.04276439920067787, 0.06560647487640381, -0.0235030185431242, -2.717589855194092, -0.021433459594845772, 2.5008418560028076, 0.7079719305038452, 0.0], "max": [0.02989199198782444, 0.34920525550842285, 0.006486322730779648, -2.395087957382202, 0.035354506224393845, 2.987795114517212, 0.8364276885986328, 0.4773367643356323], "mean": [-0.01271780300885439, 0.22964134812355042, -0.007476656697690487, -2.519554376602173, 0.007140216417610645, 2.8511130809783936, 0.760582685470581, 0.09347765892744064], "std": [0.03215911239385605, 0.09838948398828506, 0.008088416419923306, 0.14189259707927704, 0.019217614084482193, 0.1058090329170227, 0.055535491555929184, 0.18334732949733734], "count": [242]}, "observation.joint_position": {"min": [-0.04276439920067787, 0.06560647487640381, -0.0235030185431242, -2.717589855194092, -0.021433459594845772, 2.5008418560028076, 0.7079719305038452], "max": [0.02989199198782444, 0.34920525550842285, 0.006486322730779648, -2.395087957382202, 0.035354506224393845, 2.987795114517212, 0.8364276885986328], "mean": [-0.01271780300885439, 0.22964134812355042, -0.007476656697690487, -2.519554376602173, 0.007140216417610645, 2.8511130809783936, 0.760582685470581], "std": [0.03215911239385605, 0.09838948398828506, 0.008088416419923306, 0.14189259707927704, 0.019217614084482193, 0.1058090329170227, 0.055535491555929184], "count": [242]}, "observation.eef_pose_quaternion": {"min": [0.4115186929702759, -0.0310671366751194, 0.18180158734321594, 0.9963343739509583, -0.01058890763670206, -0.013819939456880093, -0.010781160555779934], "max": [0.5090251564979553, 0.014283845201134682, 0.2634395956993103, 0.9999833106994629, 0.0028398199938237667, 0.08480560779571533, 0.00517735630273819], "mean": [0.47160112857818604, -0.011534669436514378, 0.20103372633457184, 0.9985309839248657, -0.0005399717483669519, 0.05096593126654625, 0.0004950655857101083], "std": [0.04333491623401642, 0.0199874360114336, 0.020759129896759987, 0.0005955794476903975, 0.0021899244748055935, 0.018000854179263115, 0.002915760036557913], "count": [242]}, "observation.eef_pose_rotvec": {"min": [0.4115186929702759, -0.0310671366751194, 0.18180158734321594, -3.1379969120025635, -0.03318977355957031, -0.1903855800628662], "max": [0.5090251564979553, 0.014283845201134682, 0.2634395956993103, 3.137462854385376, 0.005065353587269783, 0.2656528949737549], "mean": [0.47160112857818604, -0.011534669436514378, 0.20103372633457184, 1.3981492519378662, -0.0023641258012503386, 0.09841369092464447], "std": [0.04333491623401642, 0.0199874360114336, 0.020759129896759987, 2.8040733337402344, 0.00666180532425642, 0.13817913830280304], "count": [242]}, "observation.eef_rotation_matrix": {"min": [0.9854068160057068, -0.021704548969864845, -0.027696752920746803, -0.020501181483268738, -1.0, -0.011695613153278828, -0.027574293315410614, -0.021637411788105965, -0.9999359250068665], "max": [0.9999957084655762, 0.005380780436098576, 0.1688961237668991, 0.00597670953720808, -0.9997438192367554, 0.021480435505509377, 0.16908296942710876, 0.009072036482393742, -0.9855743050575256], "mean": [0.9941470623016357, -0.0012263396056368947, 0.10175686329603195, -0.0009260857477784157, -0.9999714493751526, -0.0010858208406716585, 0.10176947712898254, 0.0008861384121701121, -0.9941393733024597], "std": [0.0024000275880098343, 0.004459564574062824, 0.03592623770236969, 0.004278214648365974, 6.411979120457545e-05, 0.0059153796173632145, 0.035921670496463776, 0.005758003331720829, 0.00235222140327096], "count": [242]}, "observation.gripper": {"min": [0.0], "max": [0.4773367643356323], "mean": [0.09347773343324661], "std": [0.18334722518920898], "count": [242]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909433864057064, 0.019095273688435555], "mean": [0.0037391018122434616, 0.0037391120567917824], "std": [0.007333878893405199, 0.007333907764405012], "count": [242]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.0381869412958622], "mean": [0.0074782175943255424], "std": [0.01466777641326189], "count": [242]}, "timestamp": {"min": [0.0], "max": [4.016666666666667], "mean": [2.0083333333333333], "std": [1.164313102219502], "count": [242]}, "frame_index": {"min": [0], "max": [241], "mean": [120.5], "std": [69.85878613317011], "count": [242]}, "episode_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [242]}, "index": {"min": [17494], "max": [17735], "mean": [17614.5], "std": [69.85878613317011], "count": [242]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [242]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6217108850762527]], [[0.6012549727668846]], [[0.5730188752723312]]], "std": [[[0.19217867859654947]], [[0.19374646642473428]], [[0.20284974973996064]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9803921568627451]], [[0.9490196078431372]], [[0.9686274509803922]]], "mean": [[[0.505725084422658]], [[0.4762925544662309]], [[0.44719327614379084]]], "std": [[[0.1859024610120866]], [[0.18765581727025765]], [[0.19232574889842766]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7568627450980392]], [[0.6941176470588235]], [[0.7450980392156863]]], "mean": [[[0.3328856964869281]], [[0.4076029677287582]], [[0.48195150939542486]]], "std": [[[0.1486258452808864]], [[0.11603734725741702]], [[0.14999257809978214]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8]], [[0.6901960784313725]], [[0.7529411764705882]]], "mean": [[[0.33076380923202614]], [[0.41964666666666667]], [[0.482211670751634]]], "std": [[[0.1459797092554649]], [[0.12302636926852084]], [[0.1520691854128311]]], "count": [100]}}}
+{"episode_index": 76, "stats": {"observation.state": {"min": [-0.05500810965895653, 0.07349611818790436, -0.016018623486161232, -2.7092652320861816, 0.006760906428098679, 2.5008437633514404, 0.7049940228462219, 0.0], "max": [0.0022811286617070436, 0.3765310049057007, 0.0007343304459936917, -2.3037712574005127, 0.03535441681742668, 2.9196503162384033, 0.7710585594177246, 0.47733598947525024], "mean": [-0.0211708415299654, 0.2459968626499176, -0.010773425921797752, -2.46539044380188, 0.01430036872625351, 2.7200980186462402, 0.7421972751617432, 0.10009414702653885], "std": [0.0249476321041584, 0.10777344554662704, 0.004356763791292906, 0.17607595026493073, 0.007207436487078667, 0.12835103273391724, 0.026752596721053123, 0.1879737824201584], "count": [226]}, "observation.joint_position": {"min": [-0.05500810965895653, 0.07349611818790436, -0.016018623486161232, -2.7092652320861816, 0.006760906428098679, 2.5008437633514404, 0.7049940228462219], "max": [0.0022811286617070436, 0.3765310049057007, 0.0007343304459936917, -2.3037712574005127, 0.03535441681742668, 2.9196503162384033, 0.7710585594177246], "mean": [-0.0211708415299654, 0.2459968626499176, -0.010773425921797752, -2.46539044380188, 0.01430036872625351, 2.7200980186462402, 0.7421972751617432], "std": [0.0249476321041584, 0.10777344554662704, 0.004356763791292906, 0.17607595026493073, 0.007207436487078667, 0.12835103273391724, 0.026752596721053123], "count": [226]}, "observation.eef_pose_quaternion": {"min": [0.4071619212627411, -0.02696334943175316, 0.17941859364509583, 0.999582827091217, -0.005348669830709696, -0.013820110820233822, -0.01078099012374878], "max": [0.5246607661247253, -0.005122086498886347, 0.26343855261802673, 0.9999960660934448, 0.002928054193034768, 0.028876550495624542, 0.0005376829067245126], "mean": [0.4785892069339752, -0.014915420673787594, 0.19853174686431885, 0.999855101108551, -0.000636874814517796, 0.0044220201671123505, -0.0008247793302871287], "std": [0.050611238926649094, 0.008915289305150509, 0.020732294768095016, 0.00013869859685655683, 0.0013898528413847089, 0.016088280826807022, 0.0025881349574774504], "count": [226]}, "observation.eef_pose_rotvec": {"min": [0.4071619212627411, -0.02696334943175316, 0.17941859364509583, -3.141404867172241, -0.009136868640780449, -0.08622272312641144], "max": [0.5246607661247253, -0.005122086498886347, 0.26343855261802673, 3.1411945819854736, 0.016781656071543694, 0.09071200340986252], "mean": [0.4785892069339752, -0.014915420673787594, 0.19853174686431885, 0.4188174903392792, 0.00033767521381378174, -0.028939858078956604], "std": [0.050611238926649094, 0.008915289305150509, 0.020732294768095016, 3.1109440326690674, 0.004781035706400871, 0.043681900948286057], "count": [226]}, "observation.eef_rotation_matrix": {"min": [0.9983322024345398, -0.010645352303981781, -0.027697093784809113, -0.010747293010354042, -1.0, -0.0010415276046842337, -0.02757464163005352, -0.021637070924043655, -0.9999966621398926], "max": [0.9999991059303284, 0.005568971391767263, 0.05772906914353371, 0.006141474470496178, -0.9997513890266418, 0.021480096504092216, 0.057728979736566544, 0.0011090985499322414, -0.9983322620391846], "mean": [0.9994385242462158, -0.0012801052071154118, 0.008837251923978329, -0.001267189858481288, -0.9999809861183167, 0.0016360173467546701, 0.008840180933475494, -0.001662691356614232, -0.9994284510612488], "std": [0.0005592186353169382, 0.0027324098628014326, 0.032172463834285736, 0.002827110467478633, 5.4354102758225054e-05, 0.005156142637133598, 0.03216398507356644, 0.005195326637476683, 0.0005561232683248818], "count": [226]}, "observation.gripper": {"min": [0.0], "max": [0.47733598947525024], "mean": [0.10009422153234482], "std": [0.187973752617836], "count": [226]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094878807663918, 0.019095277413725853], "mean": [0.0040037743747234344, 0.004003759939223528], "std": [0.0075189522467553616, 0.007518935017287731], "count": [226]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186877965927124], "mean": [0.008007537573575974], "std": [0.015037898905575275], "count": [226]}, "timestamp": {"min": [0.0], "max": [3.75], "mean": [1.875], "std": [1.087332362558324], "count": [226]}, "frame_index": {"min": [0], "max": [225], "mean": [112.5], "std": [65.23994175349944], "count": [226]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [226]}, "index": {"min": [17736], "max": [17961], "mean": [17848.5], "std": [65.23994175349944], "count": [226]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [226]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6260307080610021]], [[0.6007795234204792]], [[0.572259123093682]]], "std": [[[0.18534475625216462]], [[0.19207813831469037]], [[0.20143902309412176]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9411764705882353]], [[0.9529411764705882]]], "mean": [[[0.50190700708061]], [[0.4731179030501089]], [[0.444535727124183]]], "std": [[[0.18499145943449655]], [[0.18668952245477413]], [[0.19110163902687854]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7607843137254902]], [[0.6901960784313725]], [[0.7686274509803922]]], "mean": [[[0.33404618055555557]], [[0.40614061274509805]], [[0.48077563521241834]]], "std": [[[0.1488409057176484]], [[0.11552594569129793]], [[0.14991823656913636]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7686274509803922]], [[0.6941176470588235]], [[0.7764705882352941]]], "mean": [[[0.3281630841503268]], [[0.4173351225490196]], [[0.4828355821078431]]], "std": [[[0.14324048410206572]], [[0.12129657995299091]], [[0.1533121186258316]]], "count": [100]}}}
+{"episode_index": 77, "stats": {"observation.state": {"min": [-0.010813814587891102, 0.07348012924194336, -0.010711978189647198, -2.7393040657043457, -0.02804669365286827, 2.500839948654175, 0.7409999966621399, 0.0], "max": [0.05417067930102348, 0.38499727845191956, 0.004720897879451513, -2.2930614948272705, 0.035354387015104294, 2.981692314147949, 0.8581799268722534, 0.4773358106613159], "mean": [0.02572544850409031, 0.24655406177043915, -0.002628087531775236, -2.467674970626831, -0.011370168998837471, 2.774096965789795, 0.8198374509811401, 0.09281837940216064], "std": [0.027637014165520668, 0.11344631761312485, 0.0064554945565760136, 0.19098639488220215, 0.016261130571365356, 0.1332588940858841, 0.03754836693406105, 0.18311807513237], "count": [254]}, "observation.joint_position": {"min": [-0.010813814587891102, 0.07348012924194336, -0.010711978189647198, -2.7393040657043457, -0.02804669365286827, 2.500839948654175, 0.7409999966621399], "max": [0.05417067930102348, 0.38499727845191956, 0.004720897879451513, -2.2930614948272705, 0.035354387015104294, 2.981692314147949, 0.8581799268722534], "mean": [0.02572544850409031, 0.24655406177043915, -0.002628087531775236, -2.467674970626831, -0.011370168998837471, 2.774096965789795, 0.8198374509811401], "std": [0.027637014165520668, 0.11344631761312485, 0.0064554945565760136, 0.19098639488220215, 0.016261130571365356, 0.1332588940858841, 0.03754836693406105], "count": [254]}, "observation.eef_pose_quaternion": {"min": [0.40351352095603943, -0.0051223719492554665, 0.1827523112297058, 0.9976233839988708, -0.0017912612529471517, -0.01382052805274725, -0.010780954733490944], "max": [0.5318754315376282, 0.023937493562698364, 0.2635657787322998, 0.9999780654907227, 0.003156120888888836, 0.06888068467378616, 0.0070004649460315704], "mean": [0.48298880457878113, 0.01269256416708231, 0.20249372720718384, 0.9993565082550049, -0.00035645338357426226, 0.03011942468583584, 0.0022873792331665754], "std": [0.05561107024550438, 0.011796487495303154, 0.020245959982275963, 0.000603574444539845, 0.0013251182390376925, 0.018821612000465393, 0.004412245471030474], "count": [254]}, "observation.eef_pose_rotvec": {"min": [0.40351352095603943, -0.0051223719492554665, 0.1827523112297058, -3.139173746109009, -0.009862822480499744, -0.21628524363040924], "max": [0.5318754315376282, 0.023937493562698364, 0.2635657787322998, 3.1382193565368652, 0.003697797656059265, 0.1792660802602768], "mean": [0.48298880457878113, 0.01269256416708231, 0.20249372720718384, 1.108626365661621, -0.00327705848030746, 0.021998945623636246], "std": [0.05561107024550438, 0.011796487495303154, 0.020245959982275963, 2.9293665885925293, 0.002772723091766238, 0.10930544883012772], "count": [254]}, "observation.eef_rotation_matrix": {"min": [0.9905065298080444, -0.0038302342873066664, -0.027697930112481117, -0.0033334356267005205, -1.0, -0.014061659574508667, -0.027575472369790077, -0.02163698710501194, -0.9999232888221741], "max": [0.999980628490448, 0.006281983107328415, 0.13743163645267487, 0.006341977044939995, -0.9997513890266418, 0.021480035036802292, 0.13743634521961212, 0.013935004360973835, -0.9905096292495728], "mean": [0.9974731206893921, -0.0008355188765563071, 0.06016604229807854, -0.0005904713179916143, -0.9999459385871887, -0.00459144776687026, 0.06019173562526703, 0.004556023050099611, -0.9974279999732971], "std": [0.0024497960694134235, 0.002729380503296852, 0.037586964666843414, 0.0025732899084687233, 5.932687417953275e-05, 0.008847251534461975, 0.037561457604169846, 0.00879890751093626, 0.002414387883618474], "count": [254]}, "observation.gripper": {"min": [0.0], "max": [0.4773358106613159], "mean": [0.09281846880912781], "std": [0.18311792612075806], "count": [254]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019093777984380722, 0.019094068557024002], "mean": [0.0037127414252609015, 0.003712733741849661], "std": [0.007324721664190292, 0.007324721198529005], "count": [254]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818686306476593], "mean": [0.0074254777282476425], "std": [0.014649434015154839], "count": [254]}, "timestamp": {"min": [0.0], "max": [4.216666666666667], "mean": [2.1083333333333334], "std": [1.2220485987790248], "count": [254]}, "frame_index": {"min": [0], "max": [253], "mean": [126.5], "std": [73.32291592674149], "count": [254]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [254]}, "index": {"min": [17962], "max": [18215], "mean": [18088.5], "std": [73.32291592674149], "count": [254]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [254]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6281759150326797]], [[0.603990024509804]], [[0.5752331753812636]]], "std": [[[0.18481372717901853]], [[0.19045608685395263]], [[0.20018626315826996]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9450980392156862]], [[0.9647058823529412]]], "mean": [[[0.5026836519607844]], [[0.47612793845315904]], [[0.44682521241830064]]], "std": [[[0.18335510905670335]], [[0.18542260902955746]], [[0.18996986496594317]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7529411764705882]], [[0.6823529411764706]], [[0.7529411764705882]]], "mean": [[[0.332784681372549]], [[0.40808202614379085]], [[0.4818201286764706]]], "std": [[[0.14754300197224832]], [[0.11637217821253584]], [[0.15023549612677323]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7764705882352941]], [[0.6901960784313725]], [[0.7529411764705882]]], "mean": [[[0.3306971119281046]], [[0.4191752900326797]], [[0.48203743872549015]]], "std": [[[0.1448801899333299]], [[0.12244546561628025]], [[0.15254896401463525]]], "count": [100]}}}
+{"episode_index": 78, "stats": {"observation.state": {"min": [-0.010809038765728474, -0.01684228889644146, -0.06737478822469711, -2.914897918701172, -0.09063628315925598, 2.5008323192596436, 0.7409999966621399, 0.0], "max": [0.12529921531677246, 0.3843083083629608, 0.0007345594349317253, -2.3261923789978027, 0.03535553812980652, 3.1202943325042725, 0.9317249059677124, 0.47733747959136963], "mean": [0.09365732222795486, 0.21027569472789764, -0.04418489336967468, -2.5615522861480713, -0.016320569440722466, 2.8685479164123535, 0.8533461689949036, 0.1053691878914833], "std": [0.03129677474498749, 0.14720676839351654, 0.018499234691262245, 0.2608550786972046, 0.0516178272664547, 0.1737949252128601, 0.05700407922267914, 0.19203868508338928], "count": [239]}, "observation.joint_position": {"min": [-0.010809038765728474, -0.01684228889644146, -0.06737478822469711, -2.914897918701172, -0.09063628315925598, 2.5008323192596436, 0.7409999966621399], "max": [0.12529921531677246, 0.3843083083629608, 0.0007345594349317253, -2.3261923789978027, 0.03535553812980652, 3.1202943325042725, 0.9317249059677124], "mean": [0.09365732222795486, 0.21027569472789764, -0.04418489336967468, -2.5615522861480713, -0.016320569440722466, 2.8685479164123535, 0.8533461689949036], "std": [0.03129677474498749, 0.14720676839351654, 0.018499234691262245, 0.2608550786972046, 0.0516178272664547, 0.1737949252128601, 0.05700407922267914], "count": [239]}, "observation.eef_pose_quaternion": {"min": [0.34721967577934265, -0.0051222629845142365, 0.18058271706104279, 0.9974169135093689, -0.0026383702643215656, -0.013820876367390156, -0.010781696066260338], "max": [0.526878833770752, 0.028046535328030586, 0.26344573497772217, 0.9999966621398926, 0.0034047227818518877, 0.07182753831148148, 0.003941572271287441], "mean": [0.45576247572898865, 0.02376563660800457, 0.19885733723640442, 0.9985972046852112, 0.0003145757655147463, 0.04856346920132637, -0.0005402389797382057], "std": [0.07967695593833923, 0.0072908103466033936, 0.021420150995254517, 0.0007901943754404783, 0.0009692719904705882, 0.020884936675429344, 0.0024541879538446665], "count": [239]}, "observation.eef_pose_rotvec": {"min": [0.34721967577934265, -0.0051222629845142365, 0.18058271706104279, -3.1408233642578125, -0.008860379457473755, -0.2256041020154953], "max": [0.526878833770752, 0.028046535328030586, 0.26344573497772217, 3.1401894092559814, 0.010692107491195202, 0.21933495998382568], "mean": [0.45576247572898865, 0.02376563660800457, 0.19885733723640442, -1.0899089574813843, -0.0008056769729591906, -0.020907901227474213], "std": [0.07967695593833923, 0.0072908103466033936, 0.021420150995254517, 2.939615249633789, 0.003089317586272955, 0.1646994650363922], "count": [239]}, "observation.eef_rotation_matrix": {"min": [0.9896814227104187, -0.0058006118051707745, -0.02769862487912178, -0.004727235995233059, -1.0, -0.008221333846449852, -0.02757616899907589, -0.02163846604526043, -0.999987006187439], "max": [0.9999996423721313, 0.006739672739058733, 0.14328381419181824, 0.0068619707599282265, -0.9997513890266418, 0.021481521427631378, 0.14328421652317047, 0.007506358902901411, -0.9896813631057739], "mean": [0.9944090247154236, 0.0006014801911078393, 0.09695752710103989, 0.0006562871276400983, -0.9999855756759644, 0.0010910019045695662, 0.09696421772241592, -0.001070862403139472, -0.9943984150886536], "std": [0.0031732493080198765, 0.0019612398464232683, 0.041668038815259933, 0.0019177288049831986, 4.958760109730065e-05, 0.004910398740321398, 0.041653674095869064, 0.004904662724584341, 0.003156447084620595], "count": [239]}, "observation.gripper": {"min": [0.0], "max": [0.47733747959136963], "mean": [0.10536926984786987], "std": [0.1920386254787445], "count": [239]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909513771533966, 0.019095949828624725], "mean": [0.004214768297970295, 0.0042147706262767315], "std": [0.007681526709347963, 0.0076815481297671795], "count": [239]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186997175216675], "mean": [0.008429541252553463], "std": [0.015363088808953762], "count": [239]}, "timestamp": {"min": [0.0], "max": [3.966666666666667], "mean": [1.9833333333333332], "std": [1.1498792207106894], "count": [239]}, "frame_index": {"min": [0], "max": [238], "mean": [119.0], "std": [68.99275324264136], "count": [239]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [239]}, "index": {"min": [18216], "max": [18454], "mean": [18335.0], "std": [68.99275324264136], "count": [239]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [239]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6292942728758171]], [[0.6037107598039216]], [[0.5740719744008715]]], "std": [[[0.1810856699408651]], [[0.1878684274920415]], [[0.1968793354008714]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9921568627450981]], [[0.9529411764705882]], [[0.9686274509803922]]], "mean": [[[0.5000284150326797]], [[0.4763953758169935]], [[0.447727644335512]]], "std": [[[0.18453557403742268]], [[0.18646312570573453]], [[0.19099591813773312]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.796078431372549]], [[0.6901960784313725]], [[0.7725490196078432]]], "mean": [[[0.332221887254902]], [[0.406278029003268]], [[0.48353363562091506]]], "std": [[[0.1473044697747573]], [[0.11528499842540521]], [[0.15031148665390467]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8392156862745098]], [[0.6862745098039216]], [[0.7529411764705882]]], "mean": [[[0.33162305759803923]], [[0.41612118464052283]], [[0.48119490196078435]]], "std": [[[0.1466802745256754]], [[0.1208224837497504]], [[0.15118852224460566]]], "count": [100]}}}
+{"episode_index": 79, "stats": {"observation.state": {"min": [-0.072494737803936, -0.034464020282030106, -0.012792546302080154, -2.860696792602539, 0.00580682884901762, 2.500849485397339, 0.7054885625839233, 0.0], "max": [-0.00012598403554875404, 0.3827500641345978, 0.038246240466833115, -2.358259677886963, 0.04510705918073654, 3.1233561038970947, 0.7677021622657776, 0.4773359000682831], "mean": [-0.028718246147036552, 0.21989105641841888, 0.007696080952882767, -2.5513572692871094, 0.021809065714478493, 2.921334981918335, 0.7432218790054321, 0.0908302590250969], "std": [0.031321506947278976, 0.14243879914283752, 0.022239701822400093, 0.2199964076280594, 0.017168184742331505, 0.13828152418136597, 0.026901554316282272, 0.1818583458662033], "count": [272]}, "observation.joint_position": {"min": [-0.072494737803936, -0.034464020282030106, -0.012792546302080154, -2.860696792602539, 0.00580682884901762, 2.500849485397339, 0.7054885625839233], "max": [-0.00012598403554875404, 0.3827500641345978, 0.038246240466833115, -2.358259677886963, 0.04510705918073654, 3.1233561038970947, 0.7677021622657776], "mean": [-0.028718246147036552, 0.21989105641841888, 0.007696080952882767, -2.5513572692871094, 0.021809065714478493, 2.921334981918335, 0.7432218790054321], "std": [0.031321506947278976, 0.14243879914283752, 0.022239701822400093, 0.2199964076280594, 0.017168184742331505, 0.13828152418136597, 0.026901554316282272], "count": [272]}, "observation.eef_pose_quaternion": {"min": [0.37014883756637573, -0.016201278194785118, 0.18104246258735657, 0.9927034974098206, -0.000479744776384905, -0.013819183222949505, -0.010781051591038704], "max": [0.5245634317398071, -0.005040309391915798, 0.26343873143196106, 0.9999681711196899, 0.004667557310312986, 0.12057086825370789, 0.002443216508254409], "mean": [0.46515142917633057, -0.010621595196425915, 0.2020406574010849, 0.9968640804290771, 0.00026052899193018675, 0.07501141726970673, 0.00037539194454438984], "std": [0.06843216717243195, 0.003861913224682212, 0.022839505225419998, 0.0012566081713885069, 0.0009980620816349983, 0.0249763336032629, 0.0029614728409796953], "count": [272]}, "observation.eef_pose_rotvec": {"min": [0.37014883756637573, -0.016201278194785118, 0.18104246258735657, -3.134518623352051, -0.014582938514649868, -0.3784872889518738], "max": [0.5245634317398071, -0.005040309391915798, 0.26343873143196106, 3.133352518081665, 0.0035353992134332657, 0.3095432221889496], "mean": [0.46515142917633057, -0.010621595196425915, 0.2020406574010849, 0.5517809987068176, -0.0013638684758916497, 0.057978350669145584], "std": [0.06843216717243195, 0.003861913224682212, 0.022839505225419998, 3.078881025314331, 0.0029225945472717285, 0.2412971407175064], "count": [272]}, "observation.eef_rotation_matrix": {"min": [0.9709234833717346, -0.0013193965423852205, -0.02769523486495018, -0.0005972533253952861, -1.0, -0.004902940709143877, -0.027572786435484886, -0.02163717895746231, -0.9999023079872131], "max": [0.9999685287475586, 0.009180211462080479, 0.2393798828125, 0.009488377720117569, -0.9997513890266418, 0.02148023433983326, 0.23938460648059845, 0.004839860834181309, -0.9709222912788391], "mean": [0.9874969720840454, 0.00035011887666769326, 0.14949023723602295, 0.0006908559007570148, -0.9999794960021973, -0.0007417222368530929, 0.14950060844421387, 0.0007479845662601292, -0.9874812960624695], "std": [0.005038920324295759, 0.0020754903089255095, 0.049728091806173325, 0.001933227526023984, 5.210838571656495e-05, 0.0059273154474794865, 0.049699049443006516, 0.005908311810344458, 0.005013385787606239], "count": [272]}, "observation.gripper": {"min": [0.0], "max": [0.4773359000682831], "mean": [0.09083032608032227], "std": [0.1818581521511078], "count": [272]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094297662377357, 0.019094163551926613], "mean": [0.0036332157906144857, 0.0036332090385258198], "std": [0.007274340372532606, 0.007274332456290722], "count": [272]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818687051534653], "mean": [0.0072664255276322365], "std": [0.0145486518740654], "count": [272]}, "timestamp": {"min": [0.0], "max": [4.516666666666667], "mean": [2.2583333333333333], "std": [1.3086517659195835], "count": [272]}, "frame_index": {"min": [0], "max": [271], "mean": [135.5], "std": [78.51910595517501], "count": [272]}, "episode_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [272]}, "index": {"min": [18455], "max": [18726], "mean": [18590.5], "std": [78.51910595517501], "count": [272]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [272]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.629800119825708]], [[0.6023825953159041]], [[0.5736645070806101]]], "std": [[[0.18549686703098714]], [[0.19160286943012977]], [[0.201159318477325]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9411764705882353]], [[0.9568627450980393]]], "mean": [[[0.5054606345315905]], [[0.48239185185185185]], [[0.4526957352941176]]], "std": [[[0.1819536374811684]], [[0.18480048199362512]], [[0.18961495524603297]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7843137254901961]], [[0.6862745098039216]], [[0.7568627450980392]]], "mean": [[[0.33289376225490197]], [[0.4073086499183007]], [[0.4821006801470588]]], "std": [[[0.14924864184056744]], [[0.11607373324875582]], [[0.14985564688426053]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8117647058823529]], [[0.6862745098039216]], [[0.7529411764705882]]], "mean": [[[0.3309511111111111]], [[0.41940175857843137]], [[0.48239197303921566]]], "std": [[[0.14674386664234962]], [[0.12272242903001516]], [[0.15174776894232136]]], "count": [100]}}}
+{"episode_index": 80, "stats": {"observation.state": {"min": [-0.010808861814439297, 0.07593177258968353, -0.005621207877993584, -2.6414926052093506, -0.001590208848938346, 2.500811815261841, 0.7410004734992981, 0.0], "max": [0.016908099874854088, 0.4317464828491211, 0.009938713163137436, -2.1962966918945312, 0.035355500876903534, 2.7346792221069336, 0.8007270097732544, 0.47733697295188904], "mean": [0.00899596232920885, 0.27767348289489746, 0.0007897088653407991, -2.382671356201172, 0.003464160021394491, 2.606285810470581, 0.7927398085594177, 0.08843199908733368], "std": [0.006492032203823328, 0.13380518555641174, 0.00625045970082283, 0.2006562352180481, 0.008053803816437721, 0.07802166044712067, 0.012501535005867481, 0.1785406768321991], "count": [220]}, "observation.joint_position": {"min": [-0.010808861814439297, 0.07593177258968353, -0.005621207877993584, -2.6414926052093506, -0.001590208848938346, 2.500811815261841, 0.7410004734992981], "max": [0.016908099874854088, 0.4317464828491211, 0.009938713163137436, -2.1962966918945312, 0.035355500876903534, 2.7346792221069336, 0.8007270097732544], "mean": [0.00899596232920885, 0.27767348289489746, 0.0007897088653407991, -2.382671356201172, 0.003464160021394491, 2.606285810470581, 0.7927398085594177], "std": [0.006492032203823328, 0.13380518555641174, 0.00625045970082283, 0.2006562352180481, 0.008053803816437721, 0.07802166044712067, 0.012501535005867481], "count": [220]}, "observation.eef_pose_quaternion": {"min": [0.41790515184402466, -0.0051222750917077065, 0.1783311665058136, 0.9990223050117493, -0.00454755499958992, -0.04418867826461792, -0.010781840421259403], "max": [0.5525636076927185, 0.006580367684364319, 0.2634538412094116, 0.9999960660934448, 0.0028388616628944874, 0.011927174404263496, 0.0007181534310802817], "mean": [0.4963266849517822, 0.004735282156616449, 0.19934561848640442, 0.9995651841163635, -0.00013571640010923147, -0.02700808458030224, -0.00044398047612048686], "std": [0.06013628467917442, 0.0024657445028424263, 0.02264917641878128, 0.00025065033696591854, 0.0011306413216516376, 0.011500878259539604, 0.002546934876590967], "count": [220]}, "observation.eef_pose_rotvec": {"min": [0.41790515184402466, -0.0051222750917077065, 0.1783311665058136, -3.140889883041382, -0.0088578499853611, -0.12880000472068787], "max": [0.5525636076927185, 0.006580367684364319, 0.2634538412094116, 3.1405045986175537, 0.01428247056901455, 0.13875731825828552], "mean": [0.4963266849517822, 0.004735282156616449, 0.19934561848640442, 1.799143671989441, 0.00036402230034582317, -0.06431135535240173], "std": [0.06013628467917442, 0.0024657445028424263, 0.02264917641878128, 2.571173906326294, 0.0035523432306945324, 0.0660567432641983], "count": [220]}, "observation.eef_rotation_matrix": {"min": [0.9960923194885254, -0.009090698324143887, -0.08829257637262344, -0.009099134244024754, -1.0, -0.001429488300345838, -0.08828933537006378, -0.021638745442032814, -0.9999970197677612], "max": [0.9999847412109375, 0.005378888454288244, 0.0238565132021904, 0.005974769592285156, -0.9997513890266418, 0.021481819450855255, 0.02384854294359684, 0.0014435135526582599, -0.9960936307907104], "mean": [0.998274028301239, -0.0002797457855194807, -0.05398955196142197, -0.00026322173653170466, -0.9999844431877136, 0.0008832236635498703, -0.05398527905344963, -0.0008924744906835258, -0.9982630610466003], "std": [0.0010172678157687187, 0.002228786004707217, 0.02298000082373619, 0.0022954887244850397, 5.142057852935977e-05, 0.00507951807230711, 0.022983750328421593, 0.005106653552502394, 0.0010052688885480165], "count": [220]}, "observation.gripper": {"min": [0.0], "max": [0.47733697295188904], "mean": [0.08843205869197845], "std": [0.17854073643684387], "count": [220]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909499801695347, 0.019095443189144135], "mean": [0.0035372660495340824, 0.0035372988786548376], "std": [0.007141611073166132, 0.007141644135117531], "count": [220]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818695619702339], "mean": [0.007074564695358276], "std": [0.014283258467912674], "count": [220]}, "timestamp": {"min": [0.0], "max": [3.65], "mean": [1.825], "std": [1.0584645587936434], "count": [220]}, "frame_index": {"min": [0], "max": [219], "mean": [109.5], "std": [63.50787352761861], "count": [220]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [220]}, "index": {"min": [18727], "max": [18946], "mean": [18836.5], "std": [63.50787352761861], "count": [220]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [220]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6276457952069717]], [[0.6038218899782135]], [[0.5752915604575163]]], "std": [[[0.186650715567995]], [[0.19055778224959935]], [[0.20053609275353151]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9450980392156862]], [[0.9607843137254902]]], "mean": [[[0.4996832080610022]], [[0.4727910974945534]], [[0.44459488017429194]]], "std": [[[0.18265610698011744]], [[0.1850126569409842]], [[0.18918207994712138]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7294117647058823]], [[0.6823529411764706]], [[0.807843137254902]]], "mean": [[[0.33076150939542487]], [[0.4077089746732026]], [[0.4811873508986928]]], "std": [[[0.1460083849028088]], [[0.11551553066617011]], [[0.1527653052409226]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7372549019607844]], [[0.6941176470588235]], [[0.788235294117647]]], "mean": [[[0.32846002246732026]], [[0.419178545751634]], [[0.48037880106209147]]], "std": [[[0.14549335886644255]], [[0.12103805765505181]], [[0.15454300169774746]]], "count": [100]}}}
+{"episode_index": 81, "stats": {"observation.state": {"min": [-0.010808986611664295, -0.04639500379562378, -0.02788328006863594, -2.8670573234558105, -0.05030315741896629, 2.5008304119110107, 0.7409999966621399, 0.0], "max": [0.08138616383075714, 0.342050701379776, 0.00874614343047142, -2.4020144939422607, 0.035355012863874435, 3.039602279663086, 0.8897964358329773, 0.4773384928703308], "mean": [0.05858223885297775, 0.1837792843580246, -0.01432688720524311, -2.585026502609253, -0.03548874706029892, 2.8671987056732178, 0.8662180304527283, 0.10095199197530746], "std": [0.025998426601290703, 0.132991224527359, 0.013407533057034016, 0.2077617645263672, 0.021838335320353508, 0.12541484832763672, 0.03507369011640549, 0.1889214664697647], "count": [240]}, "observation.joint_position": {"min": [-0.010808986611664295, -0.04639500379562378, -0.02788328006863594, -2.8670573234558105, -0.05030315741896629, 2.5008304119110107, 0.7409999966621399], "max": [0.08138616383075714, 0.342050701379776, 0.00874614343047142, -2.4020144939422607, 0.035355012863874435, 3.039602279663086, 0.8897964358329773], "mean": [0.05858223885297775, 0.1837792843580246, -0.01432688720524311, -2.585026502609253, -0.03548874706029892, 2.8671987056732178, 0.8662180304527283], "std": [0.025998426601290703, 0.132991224527359, 0.013407533057034016, 0.2077617645263672, 0.021838335320353508, 0.12541484832763672, 0.03507369011640549], "count": [240]}, "observation.eef_pose_quaternion": {"min": [0.3631092309951782, -0.005122197791934013, 0.1841008961200714, 0.9971317052841187, -0.012975283898413181, -0.013818255625665188, -0.010781600140035152], "max": [0.5072224140167236, 0.030092088505625725, 0.2634478807449341, 0.9999224543571472, 0.004934689030051231, 0.07549203932285309, 0.008662051521241665], "mean": [0.4504261612892151, 0.0220586396753788, 0.2026214450597763, 0.9985824227333069, -0.0008576738182455301, 0.04962523654103279, 0.003743050852790475], "std": [0.06487232446670532, 0.009122246876358986, 0.021453190594911575, 0.0004998792428523302, 0.0026125386357307434, 0.017847994342446327, 0.0053764693439006805], "count": [240]}, "observation.eef_pose_rotvec": {"min": [0.3631092309951782, -0.005122197791934013, 0.1841008961200714, -3.13877272605896, -0.008860385976731777, -0.1658010333776474], "max": [0.5072224140167236, 0.030092088505625725, 0.2634478807449341, 3.137505531311035, 0.040683381259441376, 0.23659883439540863], "mean": [0.4504261612892151, 0.0220586396753788, 0.2026214450597763, 2.056994676589966, -0.0005455088685266674, 0.13343051075935364], "std": [0.06487232446670532, 0.009122246876358986, 0.021453190594911575, 2.3551528453826904, 0.008596230298280716, 0.0972789078950882], "count": [240]}, "observation.eef_rotation_matrix": {"min": [0.98857182264328, -0.025867098942399025, -0.027693381533026695, -0.02602514810860157, -1.0, -0.017448868602514267, -0.0275709331035614, -0.02163826674222946, -0.999947190284729], "max": [0.9997854232788086, 0.009472247213125229, 0.15058019757270813, 0.010215742513537407, -0.9996401071548462, 0.021481338888406754, 0.15052185952663422, 0.01714460365474224, -0.9885736107826233], "mean": [0.9944226145744324, -0.0022319417912513018, 0.09908277541399002, -0.0011957843089476228, -0.9998989105224609, -0.007533431053161621, 0.09910409152507782, 0.0074094729498028755, -0.9943520426750183], "std": [0.0019944452214986086, 0.005319069605320692, 0.03562798351049423, 0.005163178779184818, 8.45933027449064e-05, 0.010819107294082642, 0.03564142808318138, 0.010663939639925957, 0.002018912462517619], "count": [240]}, "observation.gripper": {"min": [0.0], "max": [0.4773384928703308], "mean": [0.10095202922821045], "std": [0.18892164528369904], "count": [240]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909555494785309, 0.0190962553024292], "mean": [0.004038061480969191, 0.004038097802549601], "std": [0.007556815166026354, 0.007556916680186987], "count": [240]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818707913160324], "mean": [0.008076162077486515], "std": [0.01511373184621334], "count": [240]}, "timestamp": {"min": [0.0], "max": [3.9833333333333334], "mean": [1.9916666666666667], "std": [1.154690514893573], "count": [240]}, "frame_index": {"min": [0], "max": [239], "mean": [119.5], "std": [69.2814308936144], "count": [240]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [240]}, "index": {"min": [18947], "max": [19186], "mean": [19066.5], "std": [69.2814308936144], "count": [240]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [240]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6297014379084968]], [[0.6009092156862745]], [[0.5708675898692811]]], "std": [[[0.18154747146825692]], [[0.1913549225681273]], [[0.19959368512692938]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9450980392156862]], [[0.9529411764705882]]], "mean": [[[0.5009582952069717]], [[0.4786716067538126]], [[0.44970609749455337]]], "std": [[[0.18372023646288718]], [[0.1850212325884449]], [[0.1897641767618965]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7764705882352941]], [[0.6784313725490196]], [[0.7450980392156863]]], "mean": [[[0.33342309640522877]], [[0.40760544526143794]], [[0.4812044199346405]]], "std": [[[0.14867111168396926]], [[0.11595116781638798]], [[0.1501253226334521]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7686274509803922]], [[0.6901960784313725]], [[0.7568627450980392]]], "mean": [[[0.33108207107843135]], [[0.41970648897058827]], [[0.4825451899509804]]], "std": [[[0.14573459428938942]], [[0.12251584074065083]], [[0.1523830417482029]]], "count": [100]}}}
+{"episode_index": 82, "stats": {"observation.state": {"min": [-0.013670030981302261, 0.09437486529350281, -0.013138474896550179, -2.709362268447876, -0.005892851855605841, 2.5008394718170166, 0.7409999966621399, 0.0], "max": [0.05726480111479759, 0.38158828020095825, 0.0023697668220847845, -2.330463171005249, 0.035355232656002045, 2.979602336883545, 0.8349174857139587, 0.47733673453330994], "mean": [0.02962847612798214, 0.25355491042137146, -0.006238148082047701, -2.4811384677886963, -0.0006179566844366491, 2.822653293609619, 0.8101349472999573, 0.09750513732433319], "std": [0.02808355912566185, 0.10738565027713776, 0.006487291771918535, 0.16798515617847443, 0.009935329668223858, 0.11346808075904846, 0.027982117608189583, 0.1862057000398636], "count": [232]}, "observation.joint_position": {"min": [-0.013670030981302261, 0.09437486529350281, -0.013138474896550179, -2.709362268447876, -0.005892851855605841, 2.5008394718170166, 0.7409999966621399], "max": [0.05726480111479759, 0.38158828020095825, 0.0023697668220847845, -2.330463171005249, 0.035355232656002045, 2.979602336883545, 0.8349174857139587], "mean": [0.02962847612798214, 0.25355491042137146, -0.006238148082047701, -2.4811384677886963, -0.0006179566844366491, 2.822653293609619, 0.8101349472999573], "std": [0.02808355912566185, 0.10738565027713776, 0.006487291771918535, 0.16798515617847443, 0.009935329668223858, 0.11346808075904846, 0.027982117608189583], "count": [232]}, "observation.eef_pose_quaternion": {"min": [0.413435697555542, -0.008801721967756748, 0.18142135441303253, 0.9977306127548218, -0.00972314365208149, -0.01587185077369213, -0.01078137755393982], "max": [0.5266037583351135, 0.023989848792552948, 0.26343870162963867, 0.9999411702156067, 0.006936302874237299, 0.06698369979858398, 0.0011906421277672052], "mean": [0.48169460892677307, 0.01229432225227356, 0.19918601214885712, 0.9988841414451599, -2.6189642085228115e-05, 0.04403308406472206, -0.00029615339008159935], "std": [0.05080890282988548, 0.01159332413226366, 0.019701194018125534, 0.00035840069176629186, 0.002129616681486368, 0.016764555126428604, 0.0026736215222626925], "count": [232]}, "observation.eef_pose_rotvec": {"min": [0.413435697555542, -0.008801721967756748, 0.18142135441303253, -3.137972831726074, -0.021773822605609894, -0.21024231612682343], "max": [0.5266037583351135, 0.023989848792552948, 0.26343870162963867, 3.1377551555633545, 0.030443234369158745, 0.16422432661056519], "mean": [0.48169460892677307, 0.01229432225227356, 0.19918601214885712, 1.4070290327072144, -0.0004662968567572534, 0.08230957388877869], "std": [0.05080890282988548, 0.01159332413226366, 0.019701194018125534, 2.802016019821167, 0.006657108664512634, 0.12294407188892365], "count": [232]}, "observation.eef_rotation_matrix": {"min": [0.9909371137619019, -0.019473014399409294, -0.031679898500442505, -0.019417041912674904, -1.0, -0.002397596137598157, -0.03179638832807541, -0.02163783833384514, -0.9999441504478455], "max": [0.9998040795326233, 0.014005144126713276, 0.13364410400390625, 0.013679837808012962, -0.9997449517250061, 0.021480875089764595, 0.13368268311023712, 0.002359832404181361, -0.9910221695899963], "mean": [0.9955510497093201, -0.00010804825433297083, 0.08795750886201859, 1.5666201989006368e-06, -0.999977707862854, 0.0006186335231177509, 0.08795611560344696, -0.0005672991974279284, -0.9955456852912903], "std": [0.0014677185099571943, 0.004274495877325535, 0.03348501771688461, 0.004239586181938648, 6.309222226263955e-05, 0.005359693896025419, 0.033493347465991974, 0.00533650815486908, 0.001442254288122058], "count": [232]}, "observation.gripper": {"min": [0.0], "max": [0.47733673453330994], "mean": [0.09750521928071976], "std": [0.18620572984218597], "count": [232]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909540221095085, 0.01909477822482586], "mean": [0.0039002024568617344, 0.003900210838764906], "std": [0.007448206655681133, 0.007448229007422924], "count": [232]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.0381869375705719], "mean": [0.007800417020916939], "std": [0.014896458014845848], "count": [232]}, "timestamp": {"min": [0.0], "max": [3.85], "mean": [1.925], "std": [1.1162001513070037], "count": [232]}, "frame_index": {"min": [0], "max": [231], "mean": [115.5], "std": [66.97200907842021], "count": [232]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [232]}, "index": {"min": [19187], "max": [19418], "mean": [19302.5], "std": [66.97200907842021], "count": [232]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [232]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6271189678649238]], [[0.6038755882352941]], [[0.5753185784313725]]], "std": [[[0.1846030055378906]], [[0.18979236025356502]], [[0.19938360740335997]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[0.9333333333333333]], [[0.9411764705882353]]], "mean": [[[0.5007535348583878]], [[0.47611651416122003]], [[0.44681202614379084]]], "std": [[[0.18434179432400513]], [[0.1861319357763348]], [[0.19087165534860684]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7568627450980392]], [[0.6901960784313725]], [[0.7529411764705882]]], "mean": [[[0.3321013888888889]], [[0.4077512397875817]], [[0.4824127614379085]]], "std": [[[0.14827494417053697]], [[0.11578565939244398]], [[0.15025116806437272]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.796078431372549]], [[0.6823529411764706]], [[0.7529411764705882]]], "mean": [[[0.3302628839869281]], [[0.4191298100490196]], [[0.4820724346405229]]], "std": [[[0.14621793508751513]], [[0.12275990473755743]], [[0.15215497623836602]]], "count": [100]}}}
+{"episode_index": 83, "stats": {"observation.state": {"min": [-0.024423103779554367, 0.05996992439031601, 0.0005536291864700615, -2.753523588180542, -0.011500994674861431, 2.500839948654175, 0.7409999966621399, 0.0], "max": [0.013322845101356506, 0.372182697057724, 0.025287706404924393, -2.386085271835327, 0.03535454720258713, 3.085623264312744, 0.8088813424110413, 0.4773363471031189], "mean": [0.0016875149449333549, 0.24723844230175018, 0.006926853209733963, -2.523756742477417, -0.004990816116333008, 2.9094138145446777, 0.7975397706031799, 0.09730435907840729], "std": [0.012100148014724255, 0.10666359215974808, 0.006267557851970196, 0.1606142669916153, 0.010886925272643566, 0.13073569536209106, 0.015275580808520317, 0.1864302158355713], "count": [249]}, "observation.joint_position": {"min": [-0.024423103779554367, 0.05996992439031601, 0.0005536291864700615, -2.753523588180542, -0.011500994674861431, 2.500839948654175, 0.7409999966621399], "max": [0.013322845101356506, 0.372182697057724, 0.025287706404924393, -2.386085271835327, 0.03535454720258713, 3.085623264312744, 0.8088813424110413], "mean": [0.0016875149449333549, 0.24723844230175018, 0.006926853209733963, -2.523756742477417, -0.004990816116333008, 2.9094138145446777, 0.7975397706031799], "std": [0.012100148014724255, 0.10666359215974808, 0.006267557851970196, 0.1606142669916153, 0.010886925272643566, 0.13073569536209106, 0.015275580808520317], "count": [249]}, "observation.eef_pose_quaternion": {"min": [0.40421807765960693, -0.00539329182356596, 0.17878267168998718, 0.9955193400382996, -0.007379182148724794, -0.014686963520944118, -0.010781098157167435], "max": [0.515055239200592, 0.012221354059875011, 0.2634391784667969, 0.9999597668647766, 0.011702689342200756, 0.094214528799057, 8.53169258334674e-05], "mean": [0.47315913438796997, 0.005021647550165653, 0.1973467618227005, 0.9973219633102417, 0.0006509405793622136, 0.06915920972824097, -0.0012625466333702207], "std": [0.04903131723403931, 0.005042246077209711, 0.020763438194990158, 0.0008704946376383305, 0.002419888973236084, 0.023495623841881752, 0.0022812364622950554], "count": [249]}, "observation.eef_pose_rotvec": {"min": [0.40421807765960693, -0.00539329182356596, 0.17878267168998718, -3.135998249053955, -0.03672606870532036, -0.2957020401954651], "max": [0.515055239200592, 0.012221354059875011, 0.2634391784667969, 3.131751537322998, 0.023125305771827698, 0.258043497800827], "mean": [0.47315913438796997, 0.005021647550165653, 0.1973467618227005, -2.049161434173584, -0.001931032631546259, -0.12961965799331665], "std": [0.04903131723403931, 0.005042246077209711, 0.020763438194990158, 2.3668510913848877, 0.0076185171492397785, 0.18923552334308624], "count": [249]}, "observation.eef_rotation_matrix": {"min": [0.9821227192878723, -0.01466031651943922, -0.02935192734003067, -0.014859923161566257, -1.0, -9.125214273808524e-05, -0.02938692830502987, -0.02163727581501007, -0.9999378323554993], "max": [0.9999012351036072, 0.023604612797498703, 0.18756215274333954, 0.023027954623103142, -0.9997205138206482, 0.021480320021510124, 0.18760809302330017, 0.000310563831590116, -0.98224276304245], "mean": [0.9893169403076172, 0.00137064210139215, 0.13790732622146606, 0.0012224320089444518, -0.9999750852584839, 0.0026456473860889673, 0.1379106193780899, -0.0023975137155503035, -0.9893158674240112], "std": [0.0035115862265229225, 0.004861841909587383, 0.046849653124809265, 0.0047956365160644054, 6.552215927513316e-05, 0.004562207963317633, 0.04685084521770477, 0.004587091971188784, 0.0034764907322824], "count": [249]}, "observation.gripper": {"min": [0.0], "max": [0.4773363471031189], "mean": [0.09730438888072968], "std": [0.18643026053905487], "count": [249]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094232469797134, 0.019094083458185196], "mean": [0.003892177017405629, 0.0038921725936233997], "std": [0.0074572013691067696, 0.007457210682332516], "count": [249]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818690776824951], "mean": [0.00778435030952096], "std": [0.014914420433342457], "count": [249]}, "timestamp": {"min": [0.0], "max": [4.133333333333334], "mean": [2.066666666666667], "std": [1.1979921473804347], "count": [249]}, "frame_index": {"min": [0], "max": [248], "mean": [124.0], "std": [71.87952884282609], "count": [249]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [249]}, "index": {"min": [19419], "max": [19667], "mean": [19543.0], "std": [71.87952884282609], "count": [249]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [249]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6266021350762526]], [[0.601940294117647]], [[0.573547938453159]]], "std": [[[0.18576643557300596]], [[0.19110963707177164]], [[0.20024390242818024]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9411764705882353]], [[0.9568627450980393]]], "mean": [[[0.5037259395424837]], [[0.4765834858387799]], [[0.4470570261437909]]], "std": [[[0.18489506921876467]], [[0.186912627979487]], [[0.19170457552928805]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8392156862745098]], [[0.6862745098039216]], [[0.7803921568627451]]], "mean": [[[0.33199210375816995]], [[0.40507726715686276]], [[0.48335497549019607]]], "std": [[[0.14844681322823317]], [[0.11529168859814064]], [[0.15022518371050492]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8509803921568627]], [[0.6901960784313725]], [[0.7411764705882353]]], "mean": [[[0.33124583129084967]], [[0.41457312908496735]], [[0.479771989379085]]], "std": [[[0.14884970952326176]], [[0.12012633092609462]], [[0.15054202409833023]]], "count": [100]}}}
+{"episode_index": 84, "stats": {"observation.state": {"min": [-0.056600671261548996, 0.03516991436481476, -0.028061481192708015, -2.8126673698425293, -0.032842546701431274, 2.5008492469787598, 0.7346507906913757, 0.0], "max": [0.03024757280945778, 0.3807182312011719, 0.024900346994400024, -2.3441312313079834, 0.03535477817058563, 3.0670700073242188, 0.8246293067932129, 0.4773360788822174], "mean": [-0.0049339174292981625, 0.23374441266059875, -0.0048272013664245605, -2.5242931842803955, -0.0074980370700359344, 2.884734869003296, 0.7845818400382996, 0.09544931352138519], "std": [0.03780504688620567, 0.12668748199939728, 0.022880058735609055, 0.20588400959968567, 0.024716157466173172, 0.13057178258895874, 0.04058806970715523, 0.18513686954975128], "count": [252]}, "observation.joint_position": {"min": [-0.056600671261548996, 0.03516991436481476, -0.028061481192708015, -2.8126673698425293, -0.032842546701431274, 2.5008492469787598, 0.7346507906913757], "max": [0.03024757280945778, 0.3807182312011719, 0.024900346994400024, -2.3441312313079834, 0.03535477817058563, 3.0670700073242188, 0.8246293067932129], "mean": [-0.0049339174292981625, 0.23374441266059875, -0.0048272013664245605, -2.5242931842803955, -0.0074980370700359344, 2.884734869003296, 0.7845818400382996], "std": [0.03780504688620567, 0.12668748199939728, 0.022880058735609055, 0.20588400959968567, 0.024716157466173172, 0.13057178258895874, 0.04058806970715523], "count": [252]}, "observation.eef_pose_quaternion": {"min": [0.38267946243286133, -0.01351770106703043, 0.1829385757446289, 0.9950088858604431, -0.0019582591485232115, -0.013819430954754353, -0.01078118197619915], "max": [0.5266364812850952, 0.004147258587181568, 0.26343870162963867, 0.999966025352478, 0.005624722223728895, 0.09967191517353058, 0.009263036772608757], "mean": [0.4717741906642914, -0.0033917182590812445, 0.20082366466522217, 0.9977489113807678, -0.0004760713200084865, 0.06342555582523346, 0.0037228944711387157], "std": [0.06380466371774673, 0.007155946455895901, 0.02016875147819519, 0.0007724066963419318, 0.0017634319374337792, 0.020667847245931625, 0.005539748817682266], "count": [252]}, "observation.eef_pose_rotvec": {"min": [0.38267946243286133, -0.01351770106703043, 0.1829385757446289, -3.136547327041626, -0.015360051766037941, -0.2568245530128479], "max": [0.5266364812850952, 0.004147258587181568, 0.26343870162963867, 3.136218786239624, 0.017662419006228447, 0.31277981400489807], "mean": [0.4717741906642914, -0.0033917182590812445, 0.20082366466522217, 1.2353780269622803, -0.003319795709103346, 0.10739806294441223], "std": [0.06380466371774673, 0.007155946455895901, 0.02016875147819519, 2.869551658630371, 0.0046539874747395515, 0.17920611798763275], "count": [252]}, "observation.eef_rotation_matrix": {"min": [0.9800919890403748, -0.005098309367895126, -0.027695734053850174, -0.0029593126382678747, -1.0, -0.0187340397387743, -0.027573280036449432, -0.021637441590428352, -0.9998717308044434], "max": [0.9999927878379822, 0.011063969694077969, 0.19836440682411194, 0.011335873045027256, -0.9997513890266418, 0.021480493247509003, 0.19833345711231232, 0.018235286697745323, -0.9801248908042908], "mean": [0.9910938143730164, -0.0015688289422541857, 0.1265169382095337, -0.0003303039411548525, -0.9999029040336609, -0.00751086650416255, 0.12655521929264069, 0.0073381043039262295, -0.9910110235214233], "std": [0.003105809446424246, 0.003961825743317604, 0.04122557118535042, 0.0031193180475383997, 8.17934560473077e-05, 0.011192506179213524, 0.04120887070894241, 0.010932499542832375, 0.0030810218304395676], "count": [252]}, "observation.gripper": {"min": [0.0], "max": [0.4773360788822174], "mean": [0.09544942528009415], "std": [0.18513697385787964], "count": [252]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094692543148994, 0.019094672054052353], "mean": [0.0038179911207407713, 0.0038179599214345217], "std": [0.007405502256006002, 0.0074054645374417305], "count": [252]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818688541650772], "mean": [0.007635953836143017], "std": [0.0148109570145607], "count": [252]}, "timestamp": {"min": [0.0], "max": [4.183333333333334], "mean": [2.091666666666667], "std": [1.2124260191252296], "count": [252]}, "frame_index": {"min": [0], "max": [251], "mean": [125.5], "std": [72.74556114751378], "count": [252]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [252]}, "index": {"min": [19668], "max": [19919], "mean": [19793.5], "std": [72.74556114751378], "count": [252]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [252]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.628403545751634]], [[0.6023841775599128]], [[0.5738012037037037]]], "std": [[[0.1852870102870246]], [[0.19033501047950335]], [[0.19989705849698355]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9490196078431372]], [[0.9607843137254902]]], "mean": [[[0.5041871595860566]], [[0.4813004820261438]], [[0.45157153867102395]]], "std": [[[0.18280340246638077]], [[0.18483116369044966]], [[0.18973692425615205]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7607843137254902]], [[0.6784313725490196]], [[0.7411764705882353]]], "mean": [[[0.3335895751633987]], [[0.4076462459150327]], [[0.48138099264705886]]], "std": [[[0.14868636200813634]], [[0.11612998125708722]], [[0.14986720990401506]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7843137254901961]], [[0.6980392156862745]], [[0.7568627450980392]]], "mean": [[[0.33147186887254904]], [[0.4199453533496732]], [[0.48285683619281045]]], "std": [[[0.14571957062302648]], [[0.12261063912180775]], [[0.15221376840650086]]], "count": [100]}}}
+{"episode_index": 85, "stats": {"observation.state": {"min": [-0.07981009781360626, -0.035828813910484314, -0.0392993688583374, -2.8906948566436768, 0.03022470697760582, 2.500849485397339, 0.6412752270698547, 0.0], "max": [0.01180851086974144, 0.39835765957832336, 0.019008822739124298, -2.3007972240448, 0.09414665400981903, 3.0922529697418213, 0.7409999966621399, 0.47733625769615173], "mean": [-0.023754367604851723, 0.22362184524536133, -0.0132910693064332, -2.5279717445373535, 0.05433041974902153, 2.8400304317474365, 0.6984919309616089, 0.1040927991271019], "std": [0.03635178133845329, 0.15304909646511078, 0.024586347863078117, 0.2579441964626312, 0.020390165969729424, 0.16039308905601501, 0.033503178507089615, 0.1915576457977295], "count": [254]}, "observation.joint_position": {"min": [-0.07981009781360626, -0.035828813910484314, -0.0392993688583374, -2.8906948566436768, 0.03022470697760582, 2.500849485397339, 0.6412752270698547], "max": [0.01180851086974144, 0.39835765957832336, 0.019008822739124298, -2.3007972240448, 0.09414665400981903, 3.0922529697418213, 0.7409999966621399], "mean": [-0.023754367604851723, 0.22362184524536133, -0.0132910693064332, -2.5279717445373535, 0.05433041974902153, 2.8400304317474365, 0.6984919309616089], "std": [0.03635178133845329, 0.15304909646511078, 0.024586347863078117, 0.2579441964626312, 0.020390165969729424, 0.16039308905601501, 0.033503178507089615], "count": [254]}, "observation.eef_pose_quaternion": {"min": [0.3558192551136017, -0.02633638121187687, 0.17867425084114075, 0.9974018335342407, -0.002746531507000327, -0.014334877952933311, -0.010903502814471722], "max": [0.535574197769165, -0.005122024565935135, 0.2634402811527252, 0.999963641166687, 0.003082042094320059, 0.07203517854213715, 0.0005113331717438996], "mean": [0.46564725041389465, -0.019682103767991066, 0.19989013671875, 0.9987937808036804, -3.813582588918507e-05, 0.04448619857430458, -0.0016279234550893307], "std": [0.07892703264951706, 0.005126983858644962, 0.021522730588912964, 0.0006400122074410319, 0.0010046082315966487, 0.020432783290743828, 0.003068597987294197], "count": [254]}, "observation.eef_pose_rotvec": {"min": [0.3558192551136017, -0.02633638121187687, 0.17867425084114075, -3.1382622718811035, -0.00961629580706358, -0.20083467662334442], "max": [0.535574197769165, -0.005122024565935135, 0.2634402811527252, 3.1351301670074463, 0.008597989566624165, 0.22623419761657715], "mean": [0.46564725041389465, -0.019682103767991066, 0.19989013671875, -2.838395118713379, 0.00011208396608708426, -0.11982940137386322], "std": [0.07892703264951706, 0.005126983858644962, 0.021522730588912964, 1.3299826383590698, 0.0031431084498763084, 0.09630381315946579], "count": [254]}, "observation.eef_rotation_matrix": {"min": [0.989621639251709, -0.005317752715200186, -0.028731785714626312, -0.005666816141456366, -1.0, -0.0009357666131108999, -0.028598204255104065, -0.02187938056886196, -0.9998576045036316], "max": [0.999998927116394, 0.005852413363754749, 0.1436963826417923, 0.006473707500845194, -0.9997450113296509, 0.02172793820500374, 0.14369572699069977, 0.0011062818812206388, -0.9896214008331299], "mean": [0.9952048063278198, -3.846939580398612e-05, 0.08883900940418243, -0.00011277655721642077, -0.9999741911888123, 0.0032271023374050856, 0.0888439491391182, -0.0032814559526741505, -0.9951826333999634], "std": [0.0025944181252270937, 0.0019084913656115532, 0.04079681262373924, 0.0021097292192280293, 6.684300751658157e-05, 0.006117638200521469, 0.04077611118555069, 0.006155614275485277, 0.0025584339164197445], "count": [254]}, "observation.gripper": {"min": [0.0], "max": [0.47733625769615173], "mean": [0.10409288853406906], "std": [0.19155733287334442], "count": [254]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094349816441536, 0.01909474842250347], "mean": [0.004163713194429874, 0.0041637117974460125], "std": [0.007662295363843441, 0.007662296295166016], "count": [254]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186900317668915], "mean": [0.008327431976795197], "std": [0.015324587002396584], "count": [254]}, "timestamp": {"min": [0.0], "max": [4.216666666666667], "mean": [2.1083333333333334], "std": [1.2220485987790248], "count": [254]}, "frame_index": {"min": [0], "max": [253], "mean": [126.5], "std": [73.32291592674149], "count": [254]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [254]}, "index": {"min": [19920], "max": [20173], "mean": [20046.5], "std": [73.32291592674149], "count": [254]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [254]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6322381917211329]], [[0.6038717565359477]], [[0.5752893899782136]]], "std": [[[0.1858330000142707]], [[0.1929042616801618]], [[0.20265557983764726]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9803921568627451]], [[0.9490196078431372]], [[0.9647058823529412]]], "mean": [[[0.5032343164488018]], [[0.47962455337690635]], [[0.45069339596949887]]], "std": [[[0.18368417672996953]], [[0.18590392325449928]], [[0.19038602761621543]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.803921568627451]], [[0.7058823529411765]], [[0.7686274509803922]]], "mean": [[[0.3326261213235294]], [[0.40615226919934644]], [[0.4829810498366013]]], "std": [[[0.1478617601311926]], [[0.1153338032989844]], [[0.15012341709519608]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8196078431372549]], [[0.6862745098039216]], [[0.7529411764705882]]], "mean": [[[0.3313669301470588]], [[0.41637880514705883]], [[0.4816133721405229]]], "std": [[[0.1463454785340753]], [[0.12106891054583423]], [[0.1514281753088531]]], "count": [100]}}}
+{"episode_index": 86, "stats": {"observation.state": {"min": [-0.022873977199196815, 0.028452998027205467, -0.022637944668531418, -2.7963509559631348, -0.036357443779706955, 2.500838041305542, 0.7286586761474609, 0.0], "max": [0.03745780885219574, 0.3719998002052307, 0.00931241363286972, -2.337503671646118, 0.035354457795619965, 3.0240185260772705, 0.8583345413208008, 0.4773370027542114], "mean": [0.0004575597995426506, 0.22716785967350006, -0.0071221161633729935, -2.516486167907715, 0.002760780742391944, 2.81420636177063, 0.7789646983146667, 0.09577878564596176], "std": [0.02526525780558586, 0.12086091190576553, 0.010393681935966015, 0.20083871483802795, 0.025110242888331413, 0.13992437720298767, 0.05674174427986145, 0.18511433899402618], "count": [243]}, "observation.joint_position": {"min": [-0.022873977199196815, 0.028452998027205467, -0.022637944668531418, -2.7963509559631348, -0.036357443779706955, 2.500838041305542, 0.7286586761474609], "max": [0.03745780885219574, 0.3719998002052307, 0.00931241363286972, -2.337503671646118, 0.035354457795619965, 3.0240185260772705, 0.8583345413208008], "mean": [0.0004575597995426506, 0.22716785967350006, -0.0071221161633729935, -2.516486167907715, 0.002760780742391944, 2.81420636177063, 0.7789646983146667], "std": [0.02526525780558586, 0.12086091190576553, 0.010393681935966015, 0.20083871483802795, 0.025110242888331413, 0.13992437720298767, 0.05674174427986145], "count": [243]}, "observation.eef_pose_quaternion": {"min": [0.3843020498752594, -0.021664436906576157, 0.18004372715950012, 0.9972929954528809, -0.009726449847221375, -0.01382033247500658, -0.010781202465295792], "max": [0.5215694904327393, 0.019518183544278145, 0.26344019174575806, 0.9999819397926331, 0.0031418967992067337, 0.07284682244062424, 0.0034528514370322227], "mean": [0.4688442349433899, -0.005033082794398069, 0.1997373402118683, 0.9991924166679382, -0.0006367819150909781, 0.035347163677215576, -0.0008450406021438539], "std": [0.05974649637937546, 0.017381319776177406, 0.02137577161192894, 0.000639271573163569, 0.002372880931943655, 0.018776437267661095, 0.0024916348047554493], "count": [243]}, "observation.eef_pose_rotvec": {"min": [0.3843020498752594, -0.021664436906576157, 0.18004372715950012, -3.1405489444732666, -0.03051196038722992, -0.18373587727546692], "max": [0.5215694904327393, 0.019518183544278145, 0.26344019174575806, 3.140231132507324, 0.013509497046470642, 0.22852112352848053], "mean": [0.4688442349433899, -0.005033082794398069, 0.1997373402118683, -1.9756202697753906, -0.0013268018374219537, -0.04850389063358307], "std": [0.05974649637937546, 0.017381319776177406, 0.02137577161192894, 2.436274766921997, 0.0075916810892522335, 0.11595125496387482], "count": [243]}, "observation.eef_rotation_matrix": {"min": [0.9891974925994873, -0.01973477378487587, -0.027697544544935226, -0.01906571164727211, -1.0, -0.007909921929240227, -0.02757507562637329, -0.021637503057718277, -0.9999515414237976], "max": [0.999976396560669, 0.006255198735743761, 0.14525461196899414, 0.006300633307546377, -0.9997513890266418, 0.021480511873960495, 0.14534394443035126, 0.00595142412930727, -0.9893761277198792], "mean": [0.9967840313911438, -0.0012861521681770682, 0.07061181962490082, -0.0012553513515740633, -0.9999746084213257, 0.0016029770486056805, 0.07061947137117386, -0.0017776952590793371, -0.996782124042511], "std": [0.002566478680819273, 0.004784530494362116, 0.03747735172510147, 0.004689658060669899, 6.214730092324317e-05, 0.00506860064342618, 0.037475887686014175, 0.004911508876830339, 0.0025310483761131763], "count": [243]}, "observation.gripper": {"min": [0.0], "max": [0.4773370027542114], "mean": [0.09577887505292892], "std": [0.18511450290679932], "count": [243]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909453794360161, 0.019095536321401596], "mean": [0.0038311465177685022, 0.003831161418929696], "std": [0.007404562085866928, 0.007404593285173178], "count": [243]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818695992231369], "mean": [0.0076623111963272095], "std": [0.014809160493314266], "count": [243]}, "timestamp": {"min": [0.0], "max": [4.033333333333333], "mean": [2.0166666666666666], "std": [1.169124395371105], "count": [243]}, "frame_index": {"min": [0], "max": [242], "mean": [121.0], "std": [70.14746372226631], "count": [243]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [243]}, "index": {"min": [20174], "max": [20416], "mean": [20295.0], "std": [70.14746372226631], "count": [243]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [243]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.626410577342048]], [[0.6013888180827887]], [[0.5727123502178649]]], "std": [[[0.18867654139268478]], [[0.19329567967516262]], [[0.20224576265029848]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9764705882352941]], [[0.9490196078431372]], [[0.9647058823529412]]], "mean": [[[0.5027816802832243]], [[0.47667044662309366]], [[0.4477002450980392]]], "std": [[[0.18362503108450548]], [[0.18607913345954205]], [[0.19045913187518898]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7686274509803922]], [[0.6862745098039216]], [[0.792156862745098]]], "mean": [[[0.33323254084967324]], [[0.4051648937908497]], [[0.48140183415032684]]], "std": [[[0.14918165825764185]], [[0.11559594543136971]], [[0.15022733669570856]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.803921568627451]], [[0.7019607843137254]], [[0.7490196078431373]]], "mean": [[[0.32996648692810454]], [[0.4149802593954248]], [[0.48128802083333333]]], "std": [[[0.14602177477912237]], [[0.12056333865408225]], [[0.15210496971695422]]], "count": [100]}}}
+{"episode_index": 87, "stats": {"observation.state": {"min": [-0.03362568840384483, 0.03408065438270569, -0.009021139703691006, -2.817141532897949, -0.03616294637322426, 2.500838041305542, 0.7200045585632324, 0.0], "max": [0.017337214201688766, 0.3406588137149811, 0.0017626092303544283, -2.433037757873535, 0.03535447269678116, 3.1137795448303223, 0.8327959179878235, 0.47733625769615173], "mean": [-0.013229738920927048, 0.2170841246843338, -0.0014177900739014149, -2.575176954269409, 0.009421120397746563, 2.930227041244507, 0.7619172930717468, 0.10333936661481857], "std": [0.021971052512526512, 0.10300618410110474, 0.0027622561901807785, 0.1631297618150711, 0.02828277461230755, 0.13848021626472473, 0.04770670458674431, 0.1907433420419693], "count": [242]}, "observation.joint_position": {"min": [-0.03362568840384483, 0.03408065438270569, -0.009021139703691006, -2.817141532897949, -0.03616294637322426, 2.500838041305542, 0.7200045585632324], "max": [0.017337214201688766, 0.3406588137149811, 0.0017626092303544283, -2.433037757873535, 0.03535447269678116, 3.1137795448303223, 0.8327959179878235], "mean": [-0.013229738920927048, 0.2170841246843338, -0.0014177900739014149, -2.575176954269409, 0.009421120397746563, 2.930227041244507, 0.7619172930717468], "std": [0.021971052512526512, 0.10300618410110474, 0.0027622561901807785, 0.1631297618150711, 0.02828277461230755, 0.13848021626472473, 0.04770670458674431], "count": [242]}, "observation.eef_pose_quaternion": {"min": [0.38397327065467834, -0.019696196541190147, 0.17949515581130981, 0.99496990442276, -0.0039413985796272755, -0.013818471692502499, -0.010781233198940754], "max": [0.49917322397232056, 0.008044028654694557, 0.2634446322917938, 0.9999809265136719, 0.002840185072273016, 0.10008248686790466, 0.0017844114918261766], "mean": [0.4572157561779022, -0.007963266223669052, 0.1976945698261261, 0.9973433017730713, 0.00027416145894676447, 0.06901063024997711, -0.001309335115365684], "std": [0.04999217763543129, 0.011514801532030106, 0.021025124937295914, 0.0009271248709410429, 0.0011304030194878578, 0.02310427464544773, 0.0023514919448643923], "count": [242]}, "observation.eef_pose_rotvec": {"min": [0.38397327065467834, -0.019696196541190147, 0.17949515581130981, -3.137939214706421, -0.012368222698569298, -0.266054630279541], "max": [0.49917322397232056, 0.008044028654694557, 0.2634446322917938, 3.137578248977661, 0.008307323791086674, 0.31406381726264954], "mean": [0.4572157561779022, -0.007963266223669052, 0.1976945698261261, -1.78496253490448, -0.0017375699244439602, -0.10838598757982254], "std": [0.04999217763543129, 0.011514801532030106, 0.021025124937295914, 2.5714635848999023, 0.00320481532253325, 0.20115827023983002], "count": [242]}, "observation.eef_rotation_matrix": {"min": [0.9799365401268005, -0.00819957721978426, -0.027693811804056168, -0.007487136404961348, -1.0, -0.004337785299867392, -0.027571363374590874, -0.02163754589855671, -0.999929666519165], "max": [0.9999840259552002, 0.005381573457270861, 0.19914428889751434, 0.005977377761155367, -0.9997513890266418, 0.021480590105056763, 0.1991719752550125, 0.002764148870483041, -0.9799606800079346], "mean": [0.9894048571586609, 0.0006272972677834332, 0.13761068880558014, 0.00046816986287012696, -0.99998539686203, 0.0026344950310885906, 0.13761812448501587, -0.002596269128844142, -0.9893929362297058], "std": [0.0037333460059016943, 0.002310751471668482, 0.0460638590157032, 0.0022095057647675276, 4.999292650609277e-05, 0.004726833198219538, 0.046048447489738464, 0.0046809096820652485, 0.0037015171255916357], "count": [242]}, "observation.gripper": {"min": [0.0], "max": [0.47733625769615173], "mean": [0.10333943367004395], "std": [0.19074317812919617], "count": [242]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094543531537056, 0.01909497380256653], "mean": [0.004133574664592743, 0.004133576061576605], "std": [0.00762970931828022, 0.007629720028489828], "count": [242]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186900317668915], "mean": [0.008267153985798359], "std": [0.01525945495814085], "count": [242]}, "timestamp": {"min": [0.0], "max": [4.016666666666667], "mean": [2.0083333333333333], "std": [1.164313102219502], "count": [242]}, "frame_index": {"min": [0], "max": [241], "mean": [120.5], "std": [69.85878613317011], "count": [242]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [242]}, "index": {"min": [20417], "max": [20658], "mean": [20537.5], "std": [69.85878613317011], "count": [242]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [242]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6233861138344227]], [[0.6003664133986928]], [[0.5713374700435729]]], "std": [[[0.18742546562063922]], [[0.1914957996029512]], [[0.2000597018088547]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9411764705882353]], [[0.9490196078431372]]], "mean": [[[0.5038443164488018]], [[0.47733152233115467]], [[0.4481246269063181]]], "std": [[[0.1850906401185532]], [[0.18724385366724067]], [[0.19195431886904032]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8117647058823529]], [[0.6862745098039216]], [[0.7843137254901961]]], "mean": [[[0.33177532475490196]], [[0.4049838684640523]], [[0.48338616013071894]]], "std": [[[0.14808430626669056]], [[0.11532727376239635]], [[0.1506232558166066]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8196078431372549]], [[0.6941176470588235]], [[0.7411764705882353]]], "mean": [[[0.3315852491830065]], [[0.41437268995098037]], [[0.47958061683006536]]], "std": [[[0.14879927251644326]], [[0.12013409553534582]], [[0.15059516296950867]]], "count": [100]}}}
+{"episode_index": 88, "stats": {"observation.state": {"min": [-0.05357592552900314, -0.06600118428468704, -0.022169897332787514, -2.9084763526916504, 0.0030867019668221474, 2.500838041305542, 0.6726698875427246, 0.0], "max": [-0.005335343070328236, 0.33023783564567566, 0.0007372012478299439, -2.3779702186584473, 0.06122859567403793, 3.0456860065460205, 0.7588796019554138, 0.4773359000682831], "mean": [-0.022171759977936745, 0.17395323514938354, -0.015291772782802582, -2.5831515789031982, 0.024223051965236664, 2.7857096195220947, 0.7261345386505127, 0.1070062592625618], "std": [0.018178969621658325, 0.1290901154279709, 0.006363872904330492, 0.22807319462299347, 0.02248563803732395, 0.17075377702713013, 0.034957170486450195, 0.19278503954410553], "count": [239]}, "observation.joint_position": {"min": [-0.05357592552900314, -0.06600118428468704, -0.022169897332787514, -2.9084763526916504, 0.0030867019668221474, 2.500838041305542, 0.6726698875427246], "max": [-0.005335343070328236, 0.33023783564567566, 0.0007372012478299439, -2.3779702186584473, 0.06122859567403793, 3.0456860065460205, 0.7588796019554138], "mean": [-0.022171759977936745, 0.17395323514938354, -0.015291772782802582, -2.5831515789031982, 0.024223051965236664, 2.7857096195220947, 0.7261345386505127], "std": [0.018178969621658325, 0.1290901154279709, 0.006363872904330492, 0.22807319462299347, 0.02248563803732395, 0.17075377702713013, 0.034957170486450195], "count": [239]}, "observation.eef_pose_quaternion": {"min": [0.34616294503211975, -0.023854654282331467, 0.18152697384357452, 0.998673677444458, -0.005988260731101036, -0.013819192536175251, -0.010780902579426765], "max": [0.5046844482421875, -0.005122063215821981, 0.26344242691993713, 0.9999951720237732, 0.004143248312175274, 0.05148251727223396, 0.002466915873810649], "mean": [0.4440973103046417, -0.01742139644920826, 0.20078633725643158, 0.9995991587638855, -0.0004459978954400867, 0.014384505338966846, -0.00014596476103179157], "std": [0.06728199124336243, 0.005225013010203838, 0.020872721448540688, 0.000503928808029741, 0.001557536656036973, 0.02410043217241764, 0.0032092658802866936], "count": [239]}, "observation.eef_pose_rotvec": {"min": [0.34616294503211975, -0.023854654282331467, 0.18152697384357452, -3.1404712200164795, -0.012934978120028973, -0.15355746448040009], "max": [0.5046844482421875, -0.005122063215821981, 0.26344242691993713, 3.1408605575561523, 0.018788840621709824, 0.16171443462371826], "mean": [0.4440973103046417, -0.01742139644920826, 0.20078633725643158, 1.169893503189087, -0.00031739528640173376, 0.0006440344150178134], "std": [0.06728199124336243, 0.005225013010203838, 0.020872721448540688, 2.9099512100219727, 0.005066809244453907, 0.08815010637044907], "count": [239]}, "observation.eef_rotation_matrix": {"min": [0.9946988224983215, -0.011883783154189587, -0.02769525721669197, -0.012062749825417995, -1.0, -0.004928224720060825, -0.02757280319929123, -0.02163689024746418, -0.9999859929084778], "max": [0.9999820590019226, 0.00815301388502121, 0.10282866656780243, 0.008462103083729744, -0.9997513890266418, 0.021479925140738487, 0.10282832384109497, 0.004939315840601921, -0.9946990013122559], "mean": [0.9984191656112671, -0.0008832937455736101, 0.028729664161801338, -0.0009002694860100746, -0.9999736547470093, 0.0002720303018577397, 0.028738390654325485, -0.0003112316189799458, -0.9984029531478882], "std": [0.0020274787675589323, 0.0030692461878061295, 0.04815883934497833, 0.0031602217350155115, 5.654848428093828e-05, 0.006395838223397732, 0.04814744368195534, 0.006440566387027502, 0.0020161711145192385], "count": [239]}, "observation.gripper": {"min": [0.0], "max": [0.4773359000682831], "mean": [0.10700636357069016], "std": [0.19278492033481598], "count": [239]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094351679086685, 0.019094716757535934], "mean": [0.004280271008610725, 0.00428023561835289], "std": [0.007711407728493214, 0.007711383048444986], "count": [239]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818687051534653], "mean": [0.008560508489608765], "std": [0.015422794036567211], "count": [239]}, "timestamp": {"min": [0.0], "max": [3.966666666666667], "mean": [1.9833333333333332], "std": [1.1498792207106894], "count": [239]}, "frame_index": {"min": [0], "max": [238], "mean": [119.0], "std": [68.99275324264136], "count": [239]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [239]}, "index": {"min": [20659], "max": [20897], "mean": [20778.0], "std": [68.99275324264136], "count": [239]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [239]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6238837799564271]], [[0.6005481644880174]], [[0.5703217592592592]]], "std": [[[0.18314664231549124]], [[0.18976980761510442]], [[0.19863651660388526]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9450980392156862]], [[0.9529411764705882]]], "mean": [[[0.5011131100217865]], [[0.4758790059912854]], [[0.4476571704793028]]], "std": [[[0.18498140075764136]], [[0.18630504491881883]], [[0.1906405299211313]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7529411764705882]], [[0.6901960784313725]], [[0.7647058823529411]]], "mean": [[[0.3332040625]], [[0.4077440012254902]], [[0.48261514093137253]]], "std": [[[0.14651020784374483]], [[0.1155342395793592]], [[0.14986731347506724]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7764705882352941]], [[0.6901960784313725]], [[0.7529411764705882]]], "mean": [[[0.3308232965686274]], [[0.4197062990196078]], [[0.48341857230392155]]], "std": [[[0.14271061490029233]], [[0.12314569832364086]], [[0.152577483697992]]], "count": [100]}}}
+{"episode_index": 89, "stats": {"observation.state": {"min": [-0.010808940045535564, -0.008039289154112339, -0.046500299125909805, -2.7887418270111084, -0.01671908050775528, 2.5008301734924316, 0.7302582263946533, 0.0], "max": [0.08679939061403275, 0.3351196348667145, 0.004479694180190563, -2.3958311080932617, 0.03535447642207146, 2.961561918258667, 0.8727047443389893, 0.4773382246494293], "mean": [0.03250826522707939, 0.19560495018959045, -0.027212755754590034, -2.5524020195007324, 0.006066853180527687, 2.8040149211883545, 0.7879984974861145, 0.10053827613592148], "std": [0.04011227563023567, 0.11518709361553192, 0.016127625480294228, 0.17721962928771973, 0.01735561154782772, 0.11085985600948334, 0.06451980769634247, 0.18812023103237152], "count": [222]}, "observation.joint_position": {"min": [-0.010808940045535564, -0.008039289154112339, -0.046500299125909805, -2.7887418270111084, -0.01671908050775528, 2.5008301734924316, 0.7302582263946533], "max": [0.08679939061403275, 0.3351196348667145, 0.004479694180190563, -2.3958311080932617, 0.03535447642207146, 2.961561918258667, 0.8727047443389893], "mean": [0.03250826522707939, 0.19560495018959045, -0.027212755754590034, -2.5524020195007324, 0.006066853180527687, 2.8040149211883545, 0.7879984974861145], "std": [0.04011227563023567, 0.11518709361553192, 0.016127625480294228, 0.17721962928771973, 0.01735561154782772, 0.11085985600948334, 0.06451980769634247], "count": [222]}, "observation.eef_pose_quaternion": {"min": [0.3844882547855377, -0.0227116197347641, 0.18293121457099915, 0.998869776725769, -0.004623481538146734, -0.015062187798321247, -0.010781238786876202], "max": [0.5063272714614868, 0.029263339936733246, 0.2634434700012207, 0.9999943375587463, 0.0029261845629662275, 0.04716742783784866, 0.004354242235422134], "mean": [0.4570047855377197, -0.000914118776563555, 0.20173802971839905, 0.9995165467262268, -0.000597412814386189, 0.028058066964149475, 0.001398834283463657], "std": [0.05484461039304733, 0.02344285324215889, 0.021026350557804108, 0.00017084677529055625, 0.0014301084447652102, 0.012766181491315365, 0.0035969517193734646], "count": [222]}, "observation.eef_pose_rotvec": {"min": [0.3844882547855377, -0.0227116197347641, 0.18293121457099915, -3.140275478363037, -0.014493045397102833, -0.10726264864206314], "max": [0.5063272714614868, 0.029263339936733246, 0.2634434700012207, 3.1399877071380615, 0.005565788131207228, 0.14783348143100739], "mean": [0.4570047855377197, -0.000914118776563555, 0.20173802971839905, 1.9489163160324097, -0.0031524847727268934, 0.07547195255756378], "std": [0.05484461039304733, 0.02344285324215889, 0.021026350557804108, 2.454782485961914, 0.003693467006087303, 0.06043987348675728], "count": [222]}, "observation.eef_rotation_matrix": {"min": [0.9955090284347534, -0.009563622064888477, -0.03012750670313835, -0.008909512311220169, -1.0, -0.008793940767645836, -0.030112802982330322, -0.0216375719755888, -0.9999801516532898], "max": [0.9999937415122986, 0.005880314391106367, 0.09419462084770203, 0.005976865068078041, -0.9997513890266418, 0.021480586379766464, 0.09426185488700867, 0.008614548482000828, -0.99552321434021], "mean": [0.9980943202972412, -0.0013471691636368632, 0.056076228618621826, -0.0010406714864075184, -0.9999643564224243, -0.0028499357867985964, 0.05609457194805145, 0.002741320990025997, -0.9980698227882385], "std": [0.0007063137600198388, 0.002923957072198391, 0.025524433702230453, 0.0027972515672445297, 5.042110205977224e-05, 0.0072217900305986404, 0.025512663647532463, 0.0071627297438681126, 0.0006796238012611866], "count": [222]}, "observation.gripper": {"min": [0.0], "max": [0.4773382246494293], "mean": [0.10053838789463043], "std": [0.18812014162540436], "count": [222]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019095635041594505, 0.019096942618489265], "mean": [0.004021527245640755, 0.004021539818495512], "std": [0.007524759508669376, 0.007524830289185047], "count": [222]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818705677986145], "mean": [0.008043070323765278], "std": [0.015049610286951065], "count": [222]}, "timestamp": {"min": [0.0], "max": [3.683333333333333], "mean": [1.8416666666666668], "std": [1.0680871617921381], "count": [222]}, "frame_index": {"min": [0], "max": [221], "mean": [110.5], "std": [64.0852297075283], "count": [222]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [222]}, "index": {"min": [20898], "max": [21119], "mean": [21008.5], "std": [64.0852297075283], "count": [222]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [222]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.622517096949891]], [[0.6006727614379085]], [[0.5710916339869281]]], "std": [[[0.18802892928308704]], [[0.1914636021961796]], [[0.20030858225950887]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9333333333333333]], [[0.9411764705882353]]], "mean": [[[0.5010827559912854]], [[0.47775957516339873]], [[0.449056947167756]]], "std": [[[0.1838778212011175]], [[0.1855113640111374]], [[0.18998434915134024]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7254901960784313]], [[0.6823529411764706]], [[0.7450980392156863]]], "mean": [[[0.3326957046568627]], [[0.4081118259803922]], [[0.48138319852941175]]], "std": [[[0.14814910563199862]], [[0.11627328509160093]], [[0.15042713707364042]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7725490196078432]], [[0.6901960784313725]], [[0.7450980392156863]]], "mean": [[[0.33001444035947713]], [[0.41894638888888885]], [[0.48154904820261435]]], "std": [[[0.1458294696855372]], [[0.12232909699002965]], [[0.15272686141885225]]], "count": [100]}}}
+{"episode_index": 90, "stats": {"observation.state": {"min": [-0.0812918171286583, 0.04301493614912033, -0.0019083286169916391, -2.7702882289886475, -0.010206012986600399, 2.500838041305542, 0.6908957362174988, 0.0], "max": [0.038841839879751205, 0.4118211269378662, 0.020823394879698753, -2.2650837898254395, 0.035354141145944595, 3.029514789581299, 0.8339921832084656, 0.4773360788822174], "mean": [-0.012232997454702854, 0.2597004175186157, 0.007969224825501442, -2.464474678039551, 0.009933797642588615, 2.785245895385742, 0.771327018737793, 0.10175860673189163], "std": [0.05269739031791687, 0.13020847737789154, 0.009092595428228378, 0.2184179127216339, 0.01991545595228672, 0.1585538387298584, 0.06263020634651184, 0.1892145276069641], "count": [227]}, "observation.joint_position": {"min": [-0.0812918171286583, 0.04301493614912033, -0.0019083286169916391, -2.7702882289886475, -0.010206012986600399, 2.500838041305542, 0.6908957362174988], "max": [0.038841839879751205, 0.4118211269378662, 0.020823394879698753, -2.2650837898254395, 0.035354141145944595, 3.029514789581299, 0.8339921832084656], "mean": [-0.012232997454702854, 0.2597004175186157, 0.007969224825501442, -2.464474678039551, 0.009933797642588615, 2.785245895385742, 0.771327018737793], "std": [0.05269739031791687, 0.13020847737789154, 0.009092595428228378, 0.2184179127216339, 0.01991545595228672, 0.1585538387298584, 0.06263020634651184], "count": [227]}, "observation.eef_pose_quaternion": {"min": [0.3924853801727295, -0.026744792237877846, 0.17812946438789368, 0.9981165528297424, -0.0031797478441148996, -0.013818657025694847, -0.010780761018395424], "max": [0.5408042669296265, 0.021739330142736435, 0.2634425759315491, 0.9999693632125854, 0.0029007031116634607, 0.06134553998708725, 0.0019362459424883127], "mean": [0.48278602957725525, 0.00019417089060880244, 0.19818547368049622, 0.9993119239807129, -2.7708319976227358e-05, 0.03064091131091118, -0.0005548048065975308], "std": [0.06339973211288452, 0.02149655669927597, 0.021494096145033836, 0.0006675565964542329, 0.0010436674347147346, 0.020605143159627914, 0.0030324729159474373], "count": [227]}, "observation.eef_pose_rotvec": {"min": [0.3924853801727295, -0.026744792237877846, 0.17812946438789368, -3.139134407043457, -0.009051444940268993, -0.1834358274936676], "max": [0.5408042669296265, 0.021739330142736435, 0.2634425759315491, 3.1406686305999756, 0.009954401291906834, 0.19269481301307678], "mean": [0.48278602957725525, 0.00019417089060880244, 0.19818547368049622, 0.4032811224460602, 0.0007699916022829711, -0.011838976293802261], "std": [0.06339973211288452, 0.02149655669927597, 0.021494096145033836, 3.109889507293701, 0.00317526888102293, 0.11534540355205536], "count": [227]}, "observation.eef_rotation_matrix": {"min": [0.9924734234809875, -0.005963829346001148, -0.02769416756927967, -0.00675363140180707, -1.0, -0.0038849697448313236, -0.027571748942136765, -0.021636584773659706, -0.9998865127563477], "max": [0.9999904632568359, 0.005515402648597956, 0.12245998531579971, 0.006085664965212345, -0.9997514486312866, 0.021479668095707893, 0.1224600151181221, 0.0038595222868025303, -0.9924733638763428], "mean": [0.9972708225250244, -6.178297189762816e-05, 0.061213418841362, -4.8393809265689924e-05, -0.9999800324440002, 0.0010905960807576776, 0.06121480464935303, -0.001127527910284698, -0.9972543120384216], "std": [0.0026815347373485565, 0.001992868259549141, 0.04113898053765297, 0.002182149328291416, 5.5314329074462876e-05, 0.006034716498106718, 0.04112730547785759, 0.0060930014587938786, 0.002668594243004918], "count": [227]}, "observation.gripper": {"min": [0.0], "max": [0.4773360788822174], "mean": [0.10175864398479462], "std": [0.18921439349651337], "count": [227]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909492164850235, 0.01909543387591839], "mean": [0.0040703690610826015, 0.00407031923532486], "std": [0.007568583823740482, 0.007568569853901863], "count": [227]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818688541650772], "mean": [0.008140691556036472], "std": [0.015137150883674622], "count": [227]}, "timestamp": {"min": [0.0], "max": [3.7666666666666666], "mean": [1.8833333333333333], "std": [1.0921436616937252], "count": [227]}, "frame_index": {"min": [0], "max": [226], "mean": [113.0], "std": [65.5286197016235], "count": [227]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [227]}, "index": {"min": [21120], "max": [21346], "mean": [21233.0], "std": [65.5286197016235], "count": [227]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [227]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6284935294117647]], [[0.6046951116557735]], [[0.5764134395424836]]], "std": [[[0.180162534489733]], [[0.18750955184190135]], [[0.19734748801645005]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9568627450980393]], [[0.9450980392156862]], [[0.9607843137254902]]], "mean": [[[0.5022928894335512]], [[0.4757854003267974]], [[0.44692281590413946]]], "std": [[[0.18386705859439964]], [[0.186761323328398]], [[0.19124761432273873]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.792156862745098]], [[0.6901960784313725]], [[0.7725490196078432]]], "mean": [[[0.33102201388888886]], [[0.40864911151960787]], [[0.4842075040849673]]], "std": [[[0.14625027718652056]], [[0.11605093174546362]], [[0.15082788078822892]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8]], [[0.6941176470588235]], [[0.7529411764705882]]], "mean": [[[0.331194783496732]], [[0.41864441380718953]], [[0.48226890727124183]]], "std": [[[0.14640777325298118]], [[0.12102420478600508]], [[0.15161098685355928]]], "count": [100]}}}
+{"episode_index": 91, "stats": {"observation.state": {"min": [-0.039676230400800705, 0.06695805490016937, -0.009935881942510605, -2.7599480152130127, -0.015140427276492119, 2.5008342266082764, 0.7380558848381042, 0.0], "max": [0.03618764504790306, 0.32166385650634766, 0.009203699417412281, -2.4243204593658447, 0.03559086471796036, 2.9679367542266846, 0.8316918611526489, 0.47733718156814575], "mean": [0.0043405028991401196, 0.20767216384410858, -0.0012424311134964228, -2.547966480255127, 0.00014297847519628704, 2.820751905441284, 0.7903621792793274, 0.10572737455368042], "std": [0.03380000963807106, 0.09161674976348877, 0.003931236919015646, 0.14861921966075897, 0.015556048601865768, 0.10950396955013275, 0.04265942797064781, 0.19190695881843567], "count": [223]}, "observation.joint_position": {"min": [-0.039676230400800705, 0.06695805490016937, -0.009935881942510605, -2.7599480152130127, -0.015140427276492119, 2.5008342266082764, 0.7380558848381042], "max": [0.03618764504790306, 0.32166385650634766, 0.009203699417412281, -2.4243204593658447, 0.03559086471796036, 2.9679367542266846, 0.8316918611526489], "mean": [0.0043405028991401196, 0.20767216384410858, -0.0012424311134964228, -2.547966480255127, 0.00014297847519628704, 2.820751905441284, 0.7903621792793274], "std": [0.03380000963807106, 0.09161674976348877, 0.003931236919015646, 0.14861921966075897, 0.015556048601865768, 0.10950396955013275, 0.04265942797064781], "count": [223]}, "observation.eef_pose_quaternion": {"min": [0.39531055092811584, -0.019657637923955917, 0.18156969547271729, 0.9987670183181763, -0.016633057966828346, -0.013820311054587364, -0.010788178071379662], "max": [0.4972188174724579, 0.01826378144323826, 0.26362574100494385, 0.9999346733093262, 0.0067203957587480545, 0.04958965629339218, 0.0020043805707246065], "mean": [0.459782212972641, 0.002746260492131114, 0.19965943694114685, 0.9993892312049866, -0.0009111589170061052, 0.032629482448101044, 9.54123697738396e-06], "std": [0.04558056592941284, 0.015067621134221554, 0.020381610840559006, 0.00016994071484077722, 0.004122969228774309, 0.011359775438904762, 0.002999006537720561], "count": [223]}, "observation.eef_pose_rotvec": {"min": [0.39531055092811584, -0.019657637923955917, 0.18156969547271729, -3.139646291732788, -0.026003288105130196, -0.15567533671855927], "max": [0.4972188174724579, 0.01826378144323826, 0.26362574100494385, 3.1396982669830322, 0.05207786336541176, 0.1238197609782219], "mean": [0.459782212972641, 0.002746260492131114, 0.19965943694114685, 0.6617079973220825, 0.00281352736055851, 0.029691509902477264], "std": [0.04558056592941284, 0.015067621134221554, 0.020381610840559006, 3.0656580924987793, 0.012937401421368122, 0.10432688146829605], "count": [223]}, "observation.eef_rotation_matrix": {"min": [0.9950741529464722, -0.032996661961078644, -0.0276974868029356, -0.033506374806165695, -1.0, -0.004009125754237175, -0.027575043961405754, -0.02165166102349758, -0.9998252987861633], "max": [0.9999376535415649, 0.013461561873555183, 0.09905252605676651, 0.013398511335253716, -0.9993899464607239, 0.021494301036000252, 0.09906156361103058, 0.0040037501603364944, -0.9950790405273438], "mean": [0.9975767731666565, -0.0018804281717166305, 0.0652208998799324, -0.0017624680185690522, -0.9999446272850037, -6.904133624630049e-05, 0.0652104914188385, -3.211144212400541e-05, -0.9975944757461548], "std": [0.0007202198612503707, 0.008192974142730236, 0.022702522575855255, 0.008290913887321949, 0.00012526150385383517, 0.005951804108917713, 0.02270643226802349, 0.00605082418769598, 0.0007044939557090402], "count": [223]}, "observation.gripper": {"min": [0.0], "max": [0.47733718156814575], "mean": [0.1057274341583252], "std": [0.19190694391727448], "count": [223]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909567229449749, 0.019096126779913902], "mean": [0.0042290957644581795, 0.004229094833135605], "std": [0.007676220033317804, 0.007676329463720322], "count": [223]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038186974823474884], "mean": [0.008458194322884083], "std": [0.01535255741328001], "count": [223]}, "timestamp": {"min": [0.0], "max": [3.7], "mean": [1.85], "std": [1.0728984626287388], "count": [223]}, "frame_index": {"min": [0], "max": [222], "mean": [111.0], "std": [64.37390775772433], "count": [223]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [223]}, "index": {"min": [21347], "max": [21569], "mean": [21458.0], "std": [64.37390775772433], "count": [223]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [223]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6258348148148148]], [[0.5983754602396514]], [[0.5684308769063181]]], "std": [[[0.18162710628379097]], [[0.1919392884064886]], [[0.20049930075521202]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9803921568627451]], [[0.9411764705882353]], [[0.9568627450980393]]], "mean": [[[0.5030968736383443]], [[0.4745095261437908]], [[0.44556344498910677]]], "std": [[[0.18588183425053248]], [[0.1865821193045785]], [[0.19124019066033987]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7372549019607844]], [[0.6901960784313725]], [[0.7490196078431373]]], "mean": [[[0.3322351531862745]], [[0.4071869117647059]], [[0.4816527879901961]]], "std": [[[0.14814982158721143]], [[0.11573668664788041]], [[0.1505357312446757]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7725490196078432]], [[0.6862745098039216]], [[0.7529411764705882]]], "mean": [[[0.3299001429738562]], [[0.41832708946078434]], [[0.48130820057189544]]], "std": [[[0.14622181162746184]], [[0.12245300261688036]], [[0.15250809297182955]]], "count": [100]}}}
+{"episode_index": 92, "stats": {"observation.state": {"min": [-0.033612046390771866, 0.030335884541273117, 0.0007342881290242076, -2.785291910171509, -0.011219997890293598, 2.500807046890259, 0.7409994006156921, 0.0], "max": [0.021453754976391792, 0.303287535905838, 0.01629357971251011, -2.433037519454956, 0.03535444661974907, 3.0590550899505615, 0.8207502961158752, 0.47733569145202637], "mean": [-0.0019436279544606805, 0.19665659964084625, 0.008821067400276661, -2.591099739074707, -0.0006857875268906355, 2.898857831954956, 0.7922931909561157, 0.10596176981925964], "std": [0.02447154000401497, 0.08597566187381744, 0.005052446853369474, 0.1272965669631958, 0.012079735286533833, 0.12638640403747559, 0.029817020520567894, 0.1921885460615158], "count": [227]}, "observation.joint_position": {"min": [-0.033612046390771866, 0.030335884541273117, 0.0007342881290242076, -2.785291910171509, -0.011219997890293598, 2.500807046890259, 0.7409994006156921], "max": [0.021453754976391792, 0.303287535905838, 0.01629357971251011, -2.433037519454956, 0.03535444661974907, 3.0590550899505615, 0.8207502961158752], "mean": [-0.0019436279544606805, 0.19665659964084625, 0.008821067400276661, -2.591099739074707, -0.0006857875268906355, 2.898857831954956, 0.7922931909561157], "std": [0.02447154000401497, 0.08597566187381744, 0.005052446853369474, 0.1272965669631958, 0.012079735286533833, 0.12638640403747559, 0.029817020520567894], "count": [227]}, "observation.eef_pose_quaternion": {"min": [0.3913945257663727, -0.007408239413052797, 0.18018950521945953, 0.9961346387863159, -0.0008084990549832582, -0.013821817003190517, -0.01078158151358366], "max": [0.485611230134964, 0.013871314004063606, 0.2634543478488922, 0.9999707937240601, 0.002840702887624502, 0.0877874344587326, 0.00017258492880500853], "mean": [0.4507583975791931, 0.00408339174464345, 0.19900357723236084, 0.9982401132583618, 0.0003266971616540104, 0.05554037168622017, -0.001293269102461636], "std": [0.03813410922884941, 0.009772046469151974, 0.021637022495269775, 0.0007665837183594704, 0.0007135418709367514, 0.02053694985806942, 0.0024211211130023003], "count": [227]}, "observation.eef_pose_rotvec": {"min": [0.3913945257663727, -0.007408239413052797, 0.18018950521945953, -3.13639235496521, -0.008863590657711029, -0.2753652334213257], "max": [0.485611230134964, 0.013871314004063606, 0.2634543478488922, 3.135578155517578, 0.002539657987654209, 0.22974172234535217], "mean": [0.4507583975791931, 0.00408339174464345, 0.19900357723236084, -1.6976498365402222, -0.0008857054053805768, -0.07449585944414139], "std": [0.03813410922884941, 0.009772046469151974, 0.021637022495269775, 2.633732557296753, 0.002288289600983262, 0.1703786700963974], "count": [227]}, "observation.eef_rotation_matrix": {"min": [0.9845805168151855, -0.0015918518183752894, -0.02770051546394825, -0.001637913752347231, -1.0, -0.00026636794791556895, -0.02757803536951542, -0.02163827419281006, -0.9998862743377686], "max": [0.9999943375587463, 0.005615030415356159, 0.17488762736320496, 0.005978490225970745, -0.9997513890266418, 0.02148125320672989, 0.17490482330322266, 0.00042230813414789736, -0.9845748543739319], "mean": [0.9929860830307007, 0.000708774896338582, 0.11085311323404312, 0.0005962839932180941, -0.9999843239784241, 0.002603412140160799, 0.11086070537567139, -0.002565034432336688, -0.9929719567298889], "std": [0.003089342499151826, 0.0014076546067371964, 0.040973272174596786, 0.0014524154830724, 5.336116737453267e-05, 0.004832704085856676, 0.04095299169421196, 0.004851249977946281, 0.003061828901991248], "count": [227]}, "observation.gripper": {"min": [0.0], "max": [0.47733569145202637], "mean": [0.1059618592262268], "std": [0.19218860566616058], "count": [227]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019093668088316917, 0.019093824550509453], "mean": [0.004238479305058718, 0.004238469060510397], "std": [0.0076875328086316586, 0.007687529549002647], "count": [227]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818685561418533], "mean": [0.00847694929689169], "std": [0.015375087037682533], "count": [227]}, "timestamp": {"min": [0.0], "max": [3.7666666666666666], "mean": [1.8833333333333333], "std": [1.0921436616937252], "count": [227]}, "frame_index": {"min": [0], "max": [226], "mean": [113.0], "std": [65.5286197016235], "count": [227]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [227]}, "index": {"min": [21570], "max": [21796], "mean": [21683.0], "std": [65.5286197016235], "count": [227]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [227]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6240047685185185]], [[0.598608545751634]], [[0.5683415114379086]]], "std": [[[0.18077585273115268]], [[0.19071100071926944]], [[0.1991607813900327]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9568627450980393]], [[0.9372549019607843]], [[0.9450980392156862]]], "mean": [[[0.5073963507625272]], [[0.47132223039215687]], [[0.44221364923747275]]], "std": [[[0.1906603591036681]], [[0.190120680221655]], [[0.19522757105190194]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8117647058823529]], [[0.6901960784313725]], [[0.7764705882352941]]], "mean": [[[0.33267948529411767]], [[0.4061271732026144]], [[0.4825351348039216]]], "std": [[[0.1484840658935242]], [[0.11535200165750731]], [[0.1501897810431217]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.807843137254902]], [[0.6862745098039216]], [[0.7450980392156863]]], "mean": [[[0.33084714460784315]], [[0.4160138051470588]], [[0.48142408088235294]]], "std": [[[0.14740167875534763]], [[0.12055710175731277]], [[0.15142559544615386]]], "count": [100]}}}
+{"episode_index": 93, "stats": {"observation.state": {"min": [-0.015250898897647858, 0.06448375433683395, -0.006254786159843206, -2.705432415008545, -0.0006531354738399386, 2.5008435249328613, 0.7409999966621399, 0.0], "max": [0.04087796062231064, 0.3240404427051544, 0.013395623303949833, -2.3810360431671143, 0.035354528576135635, 2.8106462955474854, 0.8342800736427307, 0.47733551263809204], "mean": [0.015963047742843628, 0.21149778366088867, 0.0035065438132733107, -2.5026659965515137, 0.0043349540792405605, 2.6737372875213623, 0.8000837564468384, 0.08927813917398453], "std": [0.02553325891494751, 0.08968605846166611, 0.006989398971199989, 0.14224617183208466, 0.007754650432616472, 0.083463653922081, 0.03418201953172684, 0.1800871193408966], "count": [250]}, "observation.joint_position": {"min": [-0.015250898897647858, 0.06448375433683395, -0.006254786159843206, -2.705432415008545, -0.0006531354738399386, 2.5008435249328613, 0.7409999966621399], "max": [0.04087796062231064, 0.3240404427051544, 0.013395623303949833, -2.3810360431671143, 0.035354528576135635, 2.8106462955474854, 0.8342800736427307], "mean": [0.015963047742843628, 0.21149778366088867, 0.0035065438132733107, -2.5026659965515137, 0.0043349540792405605, 2.6737372875213623, 0.8000837564468384], "std": [0.02553325891494751, 0.08968605846166611, 0.006989398971199989, 0.14224617183208466, 0.007754650432616472, 0.083463653922081, 0.03418201953172684], "count": [250]}, "observation.eef_pose_quaternion": {"min": [0.40233930945396423, -0.008494272828102112, 0.18123488128185272, 0.9989006519317627, -0.0006949076778255403, -0.0467294380068779, -0.010781126096844673], "max": [0.4991018772125244, 0.025133203715085983, 0.26343798637390137, 0.999998927116394, 0.0034992252476513386, 0.00960658211261034, 0.00013977248454466462], "mean": [0.4631405472755432, 0.01031560730189085, 0.1988072395324707, 0.9997439384460449, 0.00044467876432463527, -0.020227400586009026, -0.0013215832877904177], "std": [0.04268954321742058, 0.015454818494617939, 0.019429964944720268, 0.00018592264677863568, 0.0009605187806300819, 0.009660046547651291, 0.0023255806881934404], "count": [250]}, "observation.eef_pose_rotvec": {"min": [0.40233930945396423, -0.008494272828102112, 0.18123488128185272, -3.1414334774017334, -0.0109788179397583, -0.05032743886113167], "max": [0.4991018772125244, 0.025133203715085983, 0.26343798637390137, 3.141550302505493, 0.002366555854678154, 0.14648599922657013], "mean": [0.4631405472755432, 0.01031560730189085, 0.1988072395324707, -1.9319121837615967, -0.0013885691296309233, 0.04666958749294281], "std": [0.04268954321742058, 0.015454818494617939, 0.019429964944720268, 2.4729866981506348, 0.003008809871971607, 0.05264492705464363], "count": [250]}, "observation.eef_rotation_matrix": {"min": [0.9956287741661072, -0.0014190073125064373, -0.09336573630571365, -0.00136009999550879, -1.0, -0.00027610111283138394, -0.09334655851125717, -0.02163735032081604, -0.9999986886978149], "max": [0.9999963045120239, 0.007035747170448303, 0.019199462607502937, 0.0069604492746293545, -0.9997513890266418, 0.021480360999703407, 0.019224803894758224, 0.0002829753211699426, -0.9956092834472656], "mean": [0.9989928007125854, 0.0008333477890118957, -0.04044586420059204, 0.0009448762866668403, -0.9999845623970032, 0.002629899885505438, -0.040436744689941406, -0.002654767595231533, -0.9989808201789856], "std": [0.000745030352845788, 0.001867511891759932, 0.019305922091007233, 0.0019768187776207924, 5.149250500835478e-05, 0.004623970482498407, 0.01930903270840645, 0.004676345735788345, 0.0007439928594976664], "count": [250]}, "observation.gripper": {"min": [0.0], "max": [0.47733551263809204], "mean": [0.08927824348211288], "std": [0.18008707463741302], "count": [250]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.01909366436302662, 0.019094109535217285], "mean": [0.0035711268428713083, 0.0035711308009922504], "std": [0.007203473709523678, 0.007203466258943081], "count": [250]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818684071302414], "mean": [0.007142259273678064], "std": [0.014406967908143997], "count": [250]}, "timestamp": {"min": [0.0], "max": [4.15], "mean": [2.075], "std": [1.2028034382687436], "count": [250]}, "frame_index": {"min": [0], "max": [249], "mean": [124.5], "std": [72.16820629612461], "count": [250]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [250]}, "index": {"min": [21797], "max": [22046], "mean": [21921.5], "std": [72.16820629612461], "count": [250]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [250]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6241892592592593]], [[0.5977438534858388]], [[0.5666656944444445]]], "std": [[[0.18015796632308054]], [[0.1910221011105978]], [[0.1993506835475689]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9411764705882353]], [[0.9450980392156862]]], "mean": [[[0.5019319498910675]], [[0.46893977668845316]], [[0.4408413153594771]]], "std": [[[0.18467898286906106]], [[0.18597250687745526]], [[0.19016147501962247]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7176470588235294]], [[0.6823529411764706]], [[0.7843137254901961]]], "mean": [[[0.3314909640522876]], [[0.40457123774509807]], [[0.48066809027777774]]], "std": [[[0.1470665008172543]], [[0.11539364761936788]], [[0.15222294885460136]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7686274509803922]], [[0.6941176470588235]], [[0.7803921568627451]]], "mean": [[[0.3283944097222222]], [[0.4148360089869281]], [[0.4788014583333333]]], "std": [[[0.14588243963362202]], [[0.12042560413907091]], [[0.15381923470448233]]], "count": [100]}}}
+{"episode_index": 94, "stats": {"observation.state": {"min": [-0.02240387722849846, 0.039449214935302734, -0.025726057589054108, -2.707406997680664, -0.006252606865018606, 2.421630859375, 0.7409999966621399, 0.0], "max": [0.014478964731097221, 0.43823182582855225, 0.0007343639153987169, -2.1446521282196045, 0.03535695746541023, 2.720639228820801, 0.7869731783866882, 0.47733616828918457], "mean": [-0.0022339015267789364, 0.27032503485679626, -0.01869228668510914, -2.375898599624634, -0.0021380996331572533, 2.5566458702087402, 0.7689802050590515, 0.09169526398181915], "std": [0.015298866666853428, 0.15569090843200684, 0.005611426662653685, 0.24893219769001007, 0.009149263612926006, 0.10354319959878922, 0.014845235273241997, 0.18162062764167786], "count": [233]}, "observation.joint_position": {"min": [-0.02240387722849846, 0.039449214935302734, -0.025726057589054108, -2.707406997680664, -0.006252606865018606, 2.421630859375, 0.7409999966621399], "max": [0.014478964731097221, 0.43823182582855225, 0.0007343639153987169, -2.1446521282196045, 0.03535695746541023, 2.720639228820801, 0.7869731783866882], "mean": [-0.0022339015267789364, 0.27032503485679626, -0.01869228668510914, -2.375898599624634, -0.0021380996331572533, 2.5566458702087402, 0.7689802050590515], "std": [0.015298866666853428, 0.15569090843200684, 0.005611426662653685, 0.24893219769001007, 0.009149263612926006, 0.10354319959878922, 0.014845235273241997], "count": [233]}, "observation.eef_pose_quaternion": {"min": [0.3943731486797333, -0.018676547333598137, 0.1832999885082245, 0.9981477856636047, -0.013083328492939472, -0.06081429496407509, -0.01078234612941742], "max": [0.561511218547821, -0.004184949677437544, 0.2634504437446594, 0.9998512268066406, 0.0030150827951729298, -0.013558703474700451, 0.005802839063107967], "mean": [0.49350404739379883, -0.009593787603080273, 0.2008761763572693, 0.9989396929740906, -0.0009139956091530621, -0.04476369917392731, 0.002438625320792198], "std": [0.07337833940982819, 0.004380883648991585, 0.019866634160280228, 0.0003132272104267031, 0.0027457301039248705, 0.009080620482563972, 0.004160810261964798], "count": [233]}, "observation.eef_pose_rotvec": {"min": [0.3943731486797333, -0.018676547333598137, 0.1832999885082245, -3.137779951095581, -0.04102703183889389, -0.17442110180854797], "max": [0.561511218547821, -0.004184949677437544, 0.2634504437446594, 3.137941598892212, 0.01136127021163702, 0.19089144468307495], "mean": [0.49350404739379883, -0.009593787603080273, 0.2008761763572693, 1.1399803161621094, -0.003008944680914283, -0.05404903367161751], "std": [0.07337833940982819, 0.004380883648991585, 0.019866634160280228, 2.9156899452209473, 0.008560433983802795, 0.13260020315647125], "count": [233]}, "observation.eef_rotation_matrix": {"min": [0.9926016926765442, -0.025921577587723732, -0.12140097469091415, -0.026368016377091408, -1.0, -0.011586109176278114, -0.12140566110610962, -0.02163976989686489, -0.9994233250617981], "max": [0.9996144771575928, 0.005755760706961155, -0.027175847440958023, 0.006302777212113142, -0.999640941619873, 0.021482817828655243, -0.027050767093896866, 0.011601720005273819, -0.9925996661186218], "mean": [0.9958105683326721, -0.0015706428093835711, -0.08943501114845276, -0.0020815415773540735, -0.9999389052391052, -0.00478872237727046, -0.08941887319087982, 0.004953464027494192, -0.995781421661377], "std": [0.0012852982617914677, 0.005493142642080784, 0.0181114561855793, 0.005496630445122719, 7.227443711599335e-05, 0.008309505879878998, 0.0181380957365036, 0.008327491581439972, 0.0012660163920372725], "count": [233]}, "observation.gripper": {"min": [0.0], "max": [0.47733616828918457], "mean": [0.09169530868530273], "std": [0.18162058293819427], "count": [233]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094979390501976, 0.01909489557147026], "mean": [0.0036678162869066, 0.0036678051110357046], "std": [0.007264840882271528, 0.007264814339578152], "count": [233]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818689286708832], "mean": [0.007335623260587454], "std": [0.014529646374285221], "count": [233]}, "timestamp": {"min": [0.0], "max": [3.8666666666666667], "mean": [1.9333333333333336], "std": [1.121011448053349], "count": [233]}, "frame_index": {"min": [0], "max": [232], "mean": [116.0], "std": [67.26068688320095], "count": [233]}, "episode_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [233]}, "index": {"min": [22047], "max": [22279], "mean": [22163.0], "std": [67.26068688320095], "count": [233]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [233]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6319491203703703]], [[0.6046209803921568]], [[0.5760518763616558]]], "std": [[[0.18639897564982189]], [[0.19324687325936207]], [[0.2033983112692075]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9490196078431372]], [[0.9647058823529412]]], "mean": [[[0.5009284694989107]], [[0.47393457788671023]], [[0.4461216476034859]]], "std": [[[0.1823055993252346]], [[0.1838871272483432]], [[0.1879986676691558]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6823529411764706]], [[0.6784313725490196]], [[0.7764705882352941]]], "mean": [[[0.3322752328431372]], [[0.4073029248366013]], [[0.48101923815359476]]], "std": [[[0.1458896066275981]], [[0.11590790348450361]], [[0.15155708330332243]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6941176470588235]], [[0.6941176470588235]], [[0.8]]], "mean": [[[0.3286999857026144]], [[0.42029790441176473]], [[0.48229908088235296]]], "std": [[[0.14360306322587177]], [[0.12262136417943947]], [[0.15439004001706427]]], "count": [100]}}}
+{"episode_index": 95, "stats": {"observation.state": {"min": [-0.010809001512825489, 0.07270687073469162, -0.021930620074272156, -2.753986120223999, -0.031668469309806824, 2.500838041305542, 0.7409999966621399, 0.0], "max": [0.03283405303955078, 0.32655325531959534, 0.006201796233654022, -2.4214060306549072, 0.035354454070329666, 3.0553297996520996, 0.8299508094787598, 0.4773363471031189], "mean": [0.015575048513710499, 0.21801608800888062, -0.008950305171310902, -2.5445690155029297, -0.01680438034236431, 2.867816686630249, 0.8099683523178101, 0.09905733913183212], "std": [0.016339179128408432, 0.0879901573061943, 0.01191285252571106, 0.14521825313568115, 0.016386179253458977, 0.13359291851520538, 0.021901289001107216, 0.1875327229499817], "count": [238]}, "observation.joint_position": {"min": [-0.010809001512825489, 0.07270687073469162, -0.021930620074272156, -2.753986120223999, -0.031668469309806824, 2.500838041305542, 0.7409999966621399], "max": [0.03283405303955078, 0.32655325531959534, 0.006201796233654022, -2.4214060306549072, 0.035354454070329666, 3.0553297996520996, 0.8299508094787598], "mean": [0.015575048513710499, 0.21801608800888062, -0.008950305171310902, -2.5445690155029297, -0.01680438034236431, 2.867816686630249, 0.8099683523178101], "std": [0.016339179128408432, 0.0879901573061943, 0.01191285252571106, 0.14521825313568115, 0.016386179253458977, 0.13359291851520538, 0.021901289001107216], "count": [238]}, "observation.eef_pose_quaternion": {"min": [0.40222764015197754, -0.005605446174740791, 0.1823282539844513, 0.9969639182090759, -0.0023777931928634644, -0.013819211162626743, -0.010781088843941689], "max": [0.5024919509887695, 0.0066712903790175915, 0.2634413540363312, 0.9999790787696838, 0.0028397957794368267, 0.0778527706861496, 0.007460621651262045], "mean": [0.4646569788455963, 0.004041428677737713, 0.2007797211408615, 0.9983795285224915, -0.0006157226162031293, 0.052695274353027344, 0.002948982175439596], "std": [0.04288281127810478, 0.0031638629734516144, 0.02002006769180298, 0.0008323853835463524, 0.0010128538124263287, 0.02068335749208927, 0.004669996444135904], "count": [238]}, "observation.eef_pose_rotvec": {"min": [0.40222764015197754, -0.005605446174740791, 0.1823282539844513, -3.136329174041748, -0.008860763162374496, -0.24254509806632996], "max": [0.5024919509887695, 0.0066712903790175915, 0.2634413540363312, 3.1349258422851562, 0.007454087026417255, 0.244581401348114], "mean": [0.4646569788455963, 0.004041428677737713, 0.2007797211408615, 1.312381386756897, -0.002345943357795477, 0.07432152330875397], "std": [0.04288281127810478, 0.0031638629734516144, 0.02002006769180298, 2.839381694793701, 0.00287180719897151, 0.16123884916305542], "count": [238]}, "observation.eef_rotation_matrix": {"min": [0.9878748059272766, -0.004632081836462021, -0.027695298194885254, -0.004877433646470308, -1.0, -0.015027127228677273, -0.027572834864258766, -0.021637266501784325, -0.9999197721481323], "max": [0.9999966621398926, 0.005380736198276281, 0.15523284673690796, 0.005976656451821327, -0.9997513890266418, 0.021480293944478035, 0.15523286163806915, 0.014784714207053185, -0.9878779053688049], "mean": [0.9935884475708008, -0.0015850597992539406, 0.10517746955156326, -0.0008744819788262248, -0.9999352693557739, -0.005960655864328146, 0.10519947856664658, 0.005818572826683521, -0.9935297966003418], "std": [0.003372857114300132, 0.002210302045568824, 0.041253041476011276, 0.0018721866654232144, 6.212432344909757e-05, 0.009371994063258171, 0.041234780102968216, 0.009294077754020691, 0.003325976897031069], "count": [238]}, "observation.gripper": {"min": [0.0], "max": [0.4773363471031189], "mean": [0.09905742853879929], "std": [0.1875327080488205], "count": [238]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094428047537804, 0.019094722345471382], "mean": [0.003962291870266199, 0.003962299786508083], "std": [0.007501286920160055, 0.007501322776079178], "count": [238]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818690776824951], "mean": [0.007924593985080719], "std": [0.015002616681158543], "count": [238]}, "timestamp": {"min": [0.0], "max": [3.95], "mean": [1.9749999999999999], "std": [1.145067926175367], "count": [238]}, "frame_index": {"min": [0], "max": [237], "mean": [118.5], "std": [68.70407557052202], "count": [238]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [238]}, "index": {"min": [22280], "max": [22517], "mean": [22398.5], "std": [68.70407557052202], "count": [238]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [238]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6241304901960785]], [[0.5999805092592593]], [[0.5710721241830066]]], "std": [[[0.18689324260574694]], [[0.19259053945996726]], [[0.2012821213827712]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9372549019607843]], [[0.9490196078431372]]], "mean": [[[0.5065487282135077]], [[0.4735823474945534]], [[0.4443518491285403]]], "std": [[[0.18922252624515293]], [[0.18852311002172625]], [[0.19347806767563946]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7647058823529411]], [[0.6784313725490196]], [[0.7411764705882353]]], "mean": [[[0.3335926776960784]], [[0.4079519873366013]], [[0.4820003533496732]]], "std": [[[0.14785404240942623]], [[0.11613616829929939]], [[0.1498214945090284]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8196078431372549]], [[0.6901960784313725]], [[0.7529411764705882]]], "mean": [[[0.33199324550653597]], [[0.41956806576797384]], [[0.4831623897058824]]], "std": [[[0.14463553962475437]], [[0.12230792413137238]], [[0.15203255675692756]]], "count": [100]}}}
+{"episode_index": 96, "stats": {"observation.state": {"min": [-0.010809029452502728, 0.00870322436094284, -0.03841523826122284, -2.861719846725464, -0.057841185480356216, 2.5008387565612793, 0.7409999966621399, 0.0], "max": [0.08085686713457108, 0.3177538514137268, 0.0007343969191424549, -2.4330358505249023, 0.03535449877381325, 3.1172235012054443, 0.8860791921615601, 0.47733691334724426], "mean": [0.06985317915678024, 0.1887536197900772, -0.028433607891201973, -2.624812364578247, -0.022248249500989914, 2.9484856128692627, 0.8491594195365906, 0.09581473469734192], "std": [0.021443206816911697, 0.10297655314207077, 0.009690666571259499, 0.16658811271190643, 0.024765174835920334, 0.1336052268743515, 0.03274702653288841, 0.1856217384338379], "count": [261]}, "observation.joint_position": {"min": [-0.010809029452502728, 0.00870322436094284, -0.03841523826122284, -2.861719846725464, -0.057841185480356216, 2.5008387565612793, 0.7409999966621399], "max": [0.08085686713457108, 0.3177538514137268, 0.0007343969191424549, -2.4330358505249023, 0.03535449877381325, 3.1172235012054443, 0.8860791921615601], "mean": [0.06985317915678024, 0.1887536197900772, -0.028433607891201973, -2.624812364578247, -0.022248249500989914, 2.9484856128692627, 0.8491594195365906], "std": [0.021443206816911697, 0.10297655314207077, 0.009690666571259499, 0.16658811271190643, 0.024765174835920334, 0.1336052268743515, 0.03274702653288841], "count": [261]}, "observation.eef_pose_quaternion": {"min": [0.36719560623168945, -0.005122400354593992, 0.17851072549819946, 0.9947251677513123, -0.0008921868284232914, -0.013821685686707497, -0.010781330056488514], "max": [0.48561951518058777, 0.024050427600741386, 0.26343902945518494, 0.9999877214431763, 0.0029405616223812103, 0.10257382690906525, 0.0016551089938730001], "mean": [0.4412611722946167, 0.01964576542377472, 0.1971680223941803, 0.9974752068519592, 0.0004253256774973124, 0.06756976991891861, 0.00016623531701043248], "std": [0.052129000425338745, 0.006400261074304581, 0.021012509241700172, 0.0008933074423111975, 0.0007450345437973738, 0.02167370729148388, 0.002452520187944174], "count": [261]}, "observation.eef_pose_rotvec": {"min": [0.36719560623168945, -0.005122400354593992, 0.17851072549819946, -3.1398608684539795, -0.009237440302968025, -0.25655362010002136], "max": [0.48561951518058777, 0.024050427600741386, 0.26343902945518494, 3.1389925479888916, 0.00855277944356203, 0.32222017645835876], "mean": [0.4412611722946167, 0.01964576542377472, 0.1971680223941803, 1.4274868965148926, 0.00016524875536561012, 0.12292120605707169], "std": [0.052129000425338745, 0.006400261074304581, 0.021012509241700172, 2.7867958545684814, 0.0026804807130247355, 0.1858469843864441], "count": [261]}, "observation.eef_rotation_matrix": {"min": [0.9789568781852722, -0.00178063556086272, -0.027700243517756462, -0.0017785958480089903, -1.0, -0.0032993867062032223, -0.027577783912420273, -0.02163775824010372, -0.9999564290046692], "max": [0.9999887943267822, 0.005883046425879002, 0.2040656954050064, 0.005976374726742506, -0.9997513890266418, 0.02148076333105564, 0.2040654867887497, 0.00331883761100471, -0.9789571762084961], "mean": [0.989928126335144, 0.0007359593873843551, 0.13476024568080902, 0.0009627625113353133, -0.9999885559082031, -0.00029587489552795887, 0.1347651183605194, 0.00036190683022141457, -0.9899173974990845], "std": [0.003592372639104724, 0.0014635927509516478, 0.04321202263236046, 0.0015201764181256294, 4.7314944822574034e-05, 0.00487709604203701, 0.043190740048885345, 0.004929172806441784, 0.003567549167200923], "count": [261]}, "observation.gripper": {"min": [0.0], "max": [0.47733691334724426], "mean": [0.0958147868514061], "std": [0.18562211096286774], "count": [261]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094720482826233, 0.019096169620752335], "mean": [0.003832584246993065, 0.0038325937930494547], "std": [0.007424877490848303, 0.007424900308251381], "count": [261]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818695247173309], "mean": [0.007665182929486036], "std": [0.01484976802021265], "count": [261]}, "timestamp": {"min": [0.0], "max": [4.333333333333333], "mean": [2.1666666666666665], "std": [1.2557276184952897], "count": [261]}, "frame_index": {"min": [0], "max": [260], "mean": [130.0], "std": [75.34365710971738], "count": [261]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [261]}, "index": {"min": [22518], "max": [22778], "mean": [22648.0], "std": [75.34365710971738], "count": [261]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [261]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6255871350762527]], [[0.5978982516339869]], [[0.5673798338779956]]], "std": [[[0.18200558214815357]], [[0.19173828524945394]], [[0.19936887090914585]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9372549019607843]], [[0.9490196078431372]]], "mean": [[[0.5023915059912853]], [[0.47593049291939]], [[0.44690851579520696]]], "std": [[[0.18415943327403494]], [[0.186822506683785]], [[0.191413173880159]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8196078431372549]], [[0.6862745098039216]], [[0.7803921568627451]]], "mean": [[[0.3312074693627451]], [[0.40808151960784317]], [[0.48283453635620915]]], "std": [[[0.14884807415908022]], [[0.11611743292445921]], [[0.15066409951912518]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8274509803921568]], [[0.7019607843137254]], [[0.7411764705882353]]], "mean": [[[0.33027546568627447]], [[0.41897396241830065]], [[0.48137863970588235]]], "std": [[[0.14896844747569704]], [[0.12147834775957772]], [[0.1516090122610074]]], "count": [100]}}}
+{"episode_index": 97, "stats": {"observation.state": {"min": [-0.09299977868795395, -0.017009049654006958, -0.03785772621631622, -2.883709192276001, -0.027173083275556564, 2.500847339630127, 0.6241571307182312, 0.0], "max": [0.06712615489959717, 0.3860035538673401, 0.02656831219792366, -2.324880838394165, 0.10196030884981155, 3.0897603034973145, 0.846744954586029, 0.47733640670776367], "mean": [0.0016381597379222512, 0.21858340501785278, -0.00961651373654604, -2.539896249771118, 0.022189173847436905, 2.8690366744995117, 0.7584790587425232, 0.09761109203100204], "std": [0.06869123876094818, 0.14654546976089478, 0.02715863101184368, 0.24777303636074066, 0.051278505474328995, 0.1483655422925949, 0.09369940310716629, 0.18686902523040771], "count": [258]}, "observation.joint_position": {"min": [-0.09299977868795395, -0.017009049654006958, -0.03785772621631622, -2.883709192276001, -0.027173083275556564, 2.500847339630127, 0.6241571307182312], "max": [0.06712615489959717, 0.3860035538673401, 0.02656831219792366, -2.324880838394165, 0.10196030884981155, 3.0897603034973145, 0.846744954586029], "mean": [0.0016381597379222512, 0.21858340501785278, -0.00961651373654604, -2.539896249771118, 0.022189173847436905, 2.8690366744995117, 0.7584790587425232], "std": [0.06869123876094818, 0.14654546976089478, 0.02715863101184368, 0.24777303636074066, 0.051278505474328995, 0.1483655422925949, 0.09369940310716629], "count": [258]}, "observation.eef_pose_quaternion": {"min": [0.3582828640937805, -0.03022976778447628, 0.1829746663570404, 0.9960262179374695, -0.0061207786202430725, -0.013819500803947449, -0.01092867087572813], "max": [0.5320128202438354, 0.01635788381099701, 0.2634403705596924, 0.9999399185180664, 0.005025062710046768, 0.08887790888547897, 0.00910205114632845], "mean": [0.46437323093414307, -0.0025738575495779514, 0.20129276812076569, 0.998242974281311, -0.0009325118153356016, 0.05560659244656563, 0.0029521556571125984], "std": [0.07699574530124664, 0.020896080881357193, 0.02065434493124485, 0.0006533582927659154, 0.0017610748764127493, 0.01921243779361248, 0.005953717045485973], "count": [258]}, "observation.eef_pose_rotvec": {"min": [0.3582828640937805, -0.03022976778447628, 0.1829746663570404, -3.135836601257324, -0.015752730891108513, -0.27879253029823303], "max": [0.5320128202438354, 0.01635788381099701, 0.2634403705596924, 3.1348845958709717, 0.019175490364432335, 0.24545137584209442], "mean": [0.46437323093414307, -0.0025738575495779514, 0.20129276812076569, 0.7476107478141785, -0.0022776296827942133, 0.056014541536569595], "std": [0.07699574530124664, 0.020896080881357193, 0.02065434493124485, 3.0347392559051514, 0.005804389249533415, 0.17557936906814575], "count": [258]}, "observation.eef_rotation_matrix": {"min": [0.9841544032096863, -0.011918284930288792, -0.027695873752236366, -0.012575986795127392, -1.0, -0.01835322193801403, -0.027573421597480774, -0.02186373807489872, -0.9997724890708923], "max": [0.9999856948852539, 0.010604112409055233, 0.17702744901180267, 0.009430532343685627, -0.9997512698173523, 0.021846624091267586, 0.17707233130931854, 0.017993438988924026, -0.9841868877410889], "mean": [0.993069052696228, -0.00230626342818141, 0.11098114401102066, -0.0014192481758072972, -0.999904215335846, -0.005990722682327032, 0.11100857704877853, 0.005792804528027773, -0.9929894804954529], "std": [0.0026535086799412966, 0.003750219475477934, 0.03833353891968727, 0.0033551817759871483, 8.067229646258056e-05, 0.011973120272159576, 0.03833381086587906, 0.011814245022833347, 0.002612096955999732], "count": [258]}, "observation.gripper": {"min": [0.0], "max": [0.47733640670776367], "mean": [0.09761117398738861], "std": [0.18686875700950623], "count": [258]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019095314666628838, 0.019095201045274734], "mean": [0.0039044462610036135, 0.0039044434670358896], "std": [0.007474756333976984, 0.007474756333976984], "count": [258]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818691149353981], "mean": [0.007808893918991089], "std": [0.014949500560760498], "count": [258]}, "timestamp": {"min": [0.0], "max": [4.283333333333333], "mean": [2.1416666666666666], "std": [1.2412937545904215], "count": [258]}, "frame_index": {"min": [0], "max": [257], "mean": [128.5], "std": [74.47762527542528], "count": [258]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [258]}, "index": {"min": [22779], "max": [23036], "mean": [22907.5], "std": [74.47762527542528], "count": [258]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [258]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6302524509803921]], [[0.6040380147058824]], [[0.5751915958605665]]], "std": [[[0.18073653232835082]], [[0.18847198528233597]], [[0.19800387484808832]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9764705882352941]], [[0.9372549019607843]], [[0.9529411764705882]]], "mean": [[[0.5036795697167756]], [[0.48120124183006535]], [[0.4519178730936819]]], "std": [[[0.18282293627408622]], [[0.18485784833368524]], [[0.18960249002472618]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7568627450980392]], [[0.6784313725490196]], [[0.7411764705882353]]], "mean": [[[0.33378107230392157]], [[0.4078353717320261]], [[0.4814380555555556]]], "std": [[[0.14851188934093548]], [[0.11614295062861296]], [[0.14981124316610117]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8]], [[0.6901960784313725]], [[0.7529411764705882]]], "mean": [[[0.331713016748366]], [[0.4196304044117647]], [[0.48286104370915034]]], "std": [[[0.1452839705271009]], [[0.12235548929392069]], [[0.15208453914036393]]], "count": [100]}}}
+{"episode_index": 98, "stats": {"observation.state": {"min": [-0.08355787396430969, 0.09046018123626709, 0.0007345288759097457, -2.6571147441864014, -0.06599868834018707, 2.5007827281951904, 0.7409999966621399, 0.0], "max": [0.03338448330760002, 0.3649953305721283, 0.11785916239023209, -2.323650360107422, 0.035801809281110764, 2.823678970336914, 0.8896960020065308, 0.477338045835495], "mean": [-0.025043603032827377, 0.24946723878383636, 0.06755200773477554, -2.4510324001312256, -0.03278721868991852, 2.6746561527252197, 0.8547907471656799, 0.09224887192249298], "std": [0.03609125688672066, 0.09618616104125977, 0.042582325637340546, 0.1402329057455063, 0.030685340985655785, 0.09411436319351196, 0.03860210254788399, 0.1813843697309494], "count": [209]}, "observation.joint_position": {"min": [-0.08355787396430969, 0.09046018123626709, 0.0007345288759097457, -2.6571147441864014, -0.06599868834018707, 2.5007827281951904, 0.7409999966621399], "max": [0.03338448330760002, 0.3649953305721283, 0.11785916239023209, -2.323650360107422, 0.035801809281110764, 2.823678970336914, 0.8896960020065308], "mean": [-0.025043603032827377, 0.24946723878383636, 0.06755200773477554, -2.4510324001312256, -0.03278721868991852, 2.6746561527252197, 0.8547907471656799], "std": [0.03609125688672066, 0.09618616104125977, 0.042582325637340546, 0.1402329057455063, 0.030685340985655785, 0.09411436319351196, 0.03860210254788399], "count": [209]}, "observation.eef_pose_quaternion": {"min": [0.42086082696914673, -0.0051220497116446495, 0.17824086546897888, 0.9997683167457581, -0.004161658231168985, -0.021490903571248055, -0.010835926048457623], "max": [0.5156134366989136, 0.029626693576574326, 0.26346099376678467, 0.9999998807907104, 0.006709105335175991, 0.001096943742595613, 0.0005205605993978679], "mean": [0.47972366213798523, 0.022564826533198357, 0.1977650374174118, 0.999887228012085, -0.00018026767065748572, -0.012310470454394817, -0.0008488725870847702], "std": [0.04019007086753845, 0.008659846149384975, 0.021016625687479973, 8.601217268733308e-05, 0.0016813654219731688, 0.007962403818964958, 0.0026840902864933014], "count": [209]}, "observation.eef_pose_rotvec": {"min": [0.42086082696914673, -0.0051220497116446495, 0.17824086546897888, -3.1415882110595703, -0.021076025441288948, -0.060332395136356354], "max": [0.5156134366989136, 0.029626693576574326, 0.26346099376678467, 3.141585350036621, 0.020387057214975357, 0.06750819832086563], "mean": [0.47972366213798523, 0.022564826533198357, 0.1977650374174118, 0.1669723242521286, -0.0002244705246994272, -0.006734857335686684], "std": [0.04019007086753845, 0.008659846149384975, 0.021016625687479973, 3.1344165802001953, 0.005298462230712175, 0.04553154855966568], "count": [209]}, "observation.eef_rotation_matrix": {"min": [0.9990739226341248, -0.008363639935851097, -0.04297148436307907, -0.008282337337732315, -1.0, -0.0010182848200201988, -0.04297223687171936, -0.021741196513175964, -1.0], "max": [0.9999994039535522, 0.01341778039932251, 0.002196447690948844, 0.013418031856417656, -0.9997500777244568, 0.021595878526568413, 0.002191289095208049, 0.001063604955561459, -0.999076247215271], "mean": [0.9995650053024292, -0.00038038817001506686, -0.02461986057460308, -0.00034049968235194683, -0.9999791383743286, 0.0017091905465349555, -0.02461378276348114, -0.001685883617028594, -0.9995548129081726], "std": [0.0003410843783058226, 0.0033320384100079536, 0.01592288352549076, 0.003394433530047536, 5.739895277656615e-05, 0.005345507059246302, 0.015919992700219154, 0.005389298778027296, 0.00034722514101304114], "count": [209]}, "observation.gripper": {"min": [0.0], "max": [0.477338045835495], "mean": [0.09224896132946014], "std": [0.18138457834720612], "count": [209]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019096078351140022, 0.0190956462174654], "mean": [0.0036899724509567022, 0.0036899421829730272], "std": [0.007255340460687876, 0.007255439646542072], "count": [209]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.038187041878700256], "mean": [0.007379916962236166], "std": [0.014510766603052616], "count": [209]}, "timestamp": {"min": [0.0], "max": [3.466666666666667], "mean": [1.7333333333333332], "std": [1.0055402085998906], "count": [209]}, "frame_index": {"min": [0], "max": [208], "mean": [104.0], "std": [60.332412515993425], "count": [209]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [209]}, "index": {"min": [23037], "max": [23245], "mean": [23141.0], "std": [60.332412515993425], "count": [209]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [209]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.627872704248366]], [[0.6010747875816993]], [[0.5713434177559913]]], "std": [[[0.1823131575637305]], [[0.19216222055402224]], [[0.20031603616886168]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9372549019607843]], [[0.9529411764705882]]], "mean": [[[0.5031815413943355]], [[0.46683558551198256]], [[0.43868784586056647]]], "std": [[[0.18843626399378435]], [[0.1889348945836283]], [[0.19337465184427408]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7411764705882353]], [[0.6980392156862745]], [[0.7686274509803922]]], "mean": [[[0.333004381127451]], [[0.405600529003268]], [[0.47936280024509803]]], "std": [[[0.14916469059923967]], [[0.1148790824100799]], [[0.15107890200913993]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7176470588235294]], [[0.6901960784313725]], [[0.7686274509803922]]], "mean": [[[0.32659523897058823]], [[0.4176961315359477]], [[0.48091947916666666]]], "std": [[[0.14450494640459344]], [[0.12102348675745393]], [[0.15502606702217683]]], "count": [100]}}}
+{"episode_index": 99, "stats": {"observation.state": {"min": [-0.01082394178956747, 0.060149792581796646, -0.007368125952780247, -2.753690004348755, -0.01567067764699459, 2.500828266143799, 0.7409945726394653, 0.0], "max": [0.05407414212822914, 0.4012545049190521, 0.0069032954052090645, -2.315711736679077, 0.03536319360136986, 3.0255279541015625, 0.834676206111908, 0.4773363471031189], "mean": [0.029230866581201553, 0.258058100938797, -0.0009437658009119332, -2.4862422943115234, -0.003449317067861557, 2.855617046356201, 0.8174800276756287, 0.09538201242685318], "std": [0.02466718666255474, 0.1243673637509346, 0.0056642950512468815, 0.19345737993717194, 0.01105890516191721, 0.12215391546487808, 0.02348167821764946, 0.18457157909870148], "count": [234]}, "observation.joint_position": {"min": [-0.01082394178956747, 0.060149792581796646, -0.007368125952780247, -2.753690004348755, -0.01567067764699459, 2.500828266143799, 0.7409945726394653], "max": [0.05407414212822914, 0.4012545049190521, 0.0069032954052090645, -2.315711736679077, 0.03536319360136986, 3.0255279541015625, 0.834676206111908], "mean": [0.029230866581201553, 0.258058100938797, -0.0009437658009119332, -2.4862422943115234, -0.003449317067861557, 2.855617046356201, 0.8174800276756287], "std": [0.02466718666255474, 0.1243673637509346, 0.0056642950512468815, 0.19345737993717194, 0.01105890516191721, 0.12215391546487808, 0.02348167821764946], "count": [234]}, "observation.eef_pose_quaternion": {"min": [0.4013197422027588, -0.005122107453644276, 0.18034838140010834, 0.9960437417030334, -0.002448961604386568, -0.017856353893876076, -0.010784026235342026], "max": [0.5343038439750671, 0.025197098031640053, 0.2634466588497162, 0.9999900460243225, 0.002873706864193082, 0.08878505975008011, 0.00015745214477647096], "mean": [0.48160403966903687, 0.014975030906498432, 0.19835536181926727, 0.998221218585968, 5.370785220293328e-05, 0.055641867220401764, -0.0015146074583753943], "std": [0.05922175943851471, 0.010487143881618977, 0.0207502581179142, 0.0006467642961069942, 0.0008694155258126557, 0.021233217790722847, 0.002300733933225274], "count": [234]}, "observation.eef_pose_rotvec": {"min": [0.4013197422027588, -0.005122107453644276, 0.18034838140010834, -3.1384754180908203, -0.008969524875283241, -0.2782801687717438], "max": [0.5343038439750671, 0.025197098031640053, 0.2634466588497162, 3.1366257667541504, 0.007687885779887438, 0.1859394758939743], "mean": [0.48160403966903687, 0.014975030906498432, 0.19835536181926727, -2.3824284076690674, 0.00012012291699647903, -0.130996435880661], "std": [0.05922175943851471, 0.010487143881618977, 0.0207502581179142, 2.0345780849456787, 0.002723648212850094, 0.13340668380260468], "count": [234]}, "observation.eef_rotation_matrix": {"min": [0.9842332005500793, -0.004765681456774473, -0.035725366324186325, -0.005048756953328848, -1.0, -0.00014994124649092555, -0.03568660467863083, -0.02164311148226261, -0.9999655485153198], "max": [0.99997478723526, 0.0054704127833247185, 0.17686189711093903, 0.006022722460329533, -0.9997512698173523, 0.021486198529601097, 0.1768733710050583, 0.00050364836351946, -0.9842077493667603], "mean": [0.9929051399230957, 0.00020065500575583428, 0.11105799674987793, 1.47379505506251e-05, -0.999984860420227, 0.0030117412097752094, 0.11106318980455399, -0.003038854105398059, -0.9928910136222839], "std": [0.0026114971842616796, 0.0016731743235141039, 0.04238664731383324, 0.0018117587314918637, 5.104532465338707e-05, 0.004585690330713987, 0.04236774519085884, 0.00461599649861455, 0.002584786619991064], "count": [234]}, "observation.gripper": {"min": [0.0], "max": [0.4773363471031189], "mean": [0.09538208693265915], "std": [0.18457171320915222], "count": [234]}, "observation.finger_position": {"min": [0.0, 0.0], "max": [0.019094005227088928, 0.0190945602953434], "mean": [0.003815283067524433, 0.0038152828346937895], "std": [0.0073828743770718575, 0.007382877636700869], "count": [234]}, "observation.gripper_width_m": {"min": [0.0], "max": [0.03818690776824951], "mean": [0.007630566135048866], "std": [0.01476573757827282], "count": [234]}, "timestamp": {"min": [0.0], "max": [3.8833333333333333], "mean": [1.9416666666666669], "std": [1.125822744419321], "count": [234]}, "frame_index": {"min": [0], "max": [233], "mean": [116.5], "std": [67.54936466515926], "count": [234]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [234]}, "index": {"min": [23246], "max": [23479], "mean": [23362.5], "std": [67.54936466515926], "count": [234]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [234]}, "observation.images.head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6252633088235294]], [[0.6054480718954249]], [[0.5771868218954248]]], "std": [[[0.18329442976783808]], [[0.18683699406294613]], [[0.19630690981984353]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9764705882352941]], [[0.9411764705882353]], [[0.9568627450980393]]], "mean": [[[0.501536663943355]], [[0.477804357298475]], [[0.4484240196078431]]], "std": [[[0.18354124079519024]], [[0.18609638316115154]], [[0.1907707593516772]]], "count": [100]}, "observation.images.tactile_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.792156862745098]], [[0.6901960784313725]], [[0.7764705882352941]]], "mean": [[[0.33284575980392156]], [[0.40535780841503266]], [[0.48159744485294115]]], "std": [[[0.14942198406919233]], [[0.11538220426100533]], [[0.15025537482369267]]], "count": [100]}, "observation.images.tactile_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8196078431372549]], [[0.6862745098039216]], [[0.7450980392156863]]], "mean": [[[0.33012460784313724]], [[0.4153884129901961]], [[0.48094176266339866]]], "std": [[[0.14778002840611162]], [[0.12050675831267614]], [[0.1516796562958288]]], "count": [100]}}}
diff --git a/Simulation/GelSight_mini/insert_USB/meta/info.json b/Simulation/GelSight_mini/insert_USB/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7b61be52fd2cd946ae49a3946b00753ee8e1f3d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/meta/info.json
@@ -0,0 +1,250 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "Franka_GelSight_mini",
+    "total_episodes": 100,
+    "total_frames": 23480,
+    "total_tasks": 1,
+    "total_videos": 400,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 60,
+    "splits": {
+        "train": "0:100"
+    },
+    "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": [
+                8
+            ],
+            "names": [
+                "q0",
+                "q1",
+                "q2",
+                "q3",
+                "q4",
+                "q5",
+                "q6",
+                "gripper_open_fraction"
+            ]
+        },
+        "observation.joint_position": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "q0",
+                "q1",
+                "q2",
+                "q3",
+                "q4",
+                "q5",
+                "q6"
+            ]
+        },
+        "observation.eef_pose_quaternion": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "x",
+                "y",
+                "z",
+                "qx",
+                "qy",
+                "qz",
+                "qw"
+            ]
+        },
+        "observation.eef_pose_rotvec": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "x",
+                "y",
+                "z",
+                "rx",
+                "ry",
+                "rz"
+            ]
+        },
+        "observation.eef_rotation_matrix": {
+            "dtype": "float32",
+            "shape": [
+                9
+            ],
+            "names": [
+                "r00",
+                "r01",
+                "r02",
+                "r10",
+                "r11",
+                "r12",
+                "r20",
+                "r21",
+                "r22"
+            ]
+        },
+        "observation.gripper": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "gripper_open_fraction"
+            ]
+        },
+        "observation.finger_position": {
+            "dtype": "float32",
+            "shape": [
+                2
+            ],
+            "names": [
+                "left_m",
+                "right_m"
+            ]
+        },
+        "observation.gripper_width_m": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "width_m"
+            ]
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                270,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 270,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 60,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                270,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 270,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 60,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_left": {
+            "dtype": "video",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 240,
+                "video.width": 320,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 60,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_right": {
+            "dtype": "video",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 240,
+                "video.width": 320,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 60,
+                "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/Simulation/GelSight_mini/insert_USB/meta/stats.json b/Simulation/GelSight_mini/insert_USB/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..83c5e8b5e998fd7afda5ba893545d8b0993fb9f5
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/meta/stats.json
@@ -0,0 +1,647 @@
+{
+    "observation.joint_position": {
+        "min": [
+            -0.0939224362373352,
+            -0.09244932234287262,
+            -0.0716952383518219,
+            -2.9185538291931152,
+            -0.09063628315925598,
+            2.393549919128418,
+            0.6241571307182312
+        ],
+        "max": [
+            0.12529921531677246,
+            0.4565044343471527,
+            0.11785916239023209,
+            -2.1200177669525146,
+            0.10196030884981155,
+            3.126178741455078,
+            0.9317249059677124
+        ],
+        "mean": [
+            0.00661470390043962,
+            0.23115864890664053,
+            -0.0052591393086372975,
+            -2.498134380771923,
+            0.0009825314318341678,
+            2.769774638164591,
+            0.7866534010464329
+        ],
+        "std": [
+            0.037393179641799355,
+            0.12404133032464632,
+            0.01816119489313312,
+            0.20446581568432998,
+            0.02340392362531696,
+            0.17061459637540696,
+            0.052479886945806124
+        ],
+        "count": [
+            23480
+        ]
+    },
+    "observation.images.tactile_right": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.8941176470588236
+                ]
+            ],
+            [
+                [
+                    0.7098039215686275
+                ]
+            ],
+            [
+                [
+                    0.807843137254902
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3295350164419937
+                ]
+            ],
+            [
+                [
+                    0.41810390827205884
+                ]
+            ],
+            [
+                [
+                    0.48149216474673184
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.14567253698966676
+                ]
+            ],
+            [
+                [
+                    0.12169742078957997
+                ]
+            ],
+            [
+                [
+                    0.1529459578143313
+                ]
+            ]
+        ],
+        "count": [
+            10000
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            23479
+        ],
+        "mean": [
+            11739.5
+        ],
+        "std": [
+            6778.092154138952
+        ],
+        "count": [
+            23480
+        ]
+    },
+    "observation.gripper": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.4773458242416382
+        ],
+        "mean": [
+            0.09722789796021666
+        ],
+        "std": [
+            0.18614248768158534
+        ],
+        "count": [
+            23480
+        ]
+    },
+    "observation.gripper_width_m": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0381876640021801
+        ],
+        "mean": [
+            0.007778231617086289
+        ],
+        "std": [
+            0.014891398658741298
+        ],
+        "count": [
+            23480
+        ]
+    },
+    "observation.eef_pose_quaternion": {
+        "min": [
+            0.34616294503211975,
+            -0.033419977873563766,
+            0.17767032980918884,
+            0.9923452138900757,
+            -0.02656199410557747,
+            -0.06784873455762863,
+            -0.01092867087572813
+        ],
+        "max": [
+            0.5649075508117676,
+            0.032645560801029205,
+            0.26362574100494385,
+            0.9999998807907104,
+            0.04323143512010574,
+            0.12345416843891144,
+            0.009971968829631805
+        ],
+        "mean": [
+            0.4711693199151521,
+            0.0007922599017197161,
+            0.1997730954904014,
+            0.9989530380123519,
+            -8.009438086844027e-05,
+            0.0203138198785385,
+            0.00030133994873830723
+        ],
+        "std": [
+            0.05953329044138401,
+            0.017478587230749375,
+            0.021113612530485666,
+            0.0010634316377956749,
+            0.0022964012185056845,
+            0.04074608111041991,
+            0.003622708252223077
+        ],
+        "count": [
+            23480
+        ]
+    },
+    "observation.eef_rotation_matrix": {
+        "min": [
+            0.9694984555244446,
+            -0.05312002822756767,
+            -0.13538499176502228,
+            -0.05308965593576431,
+            -1.0,
+            -0.020124167203903198,
+            -0.13538452982902527,
+            -0.02187938056886196,
+            -1.0
+        ],
+        "max": [
+            0.9999999403953552,
+            0.08635605871677399,
+            0.24501751363277435,
+            0.08638924360275269,
+            -0.996261477470398,
+            0.021846624091267586,
+            0.24501918256282806,
+            0.019703496247529984,
+            -0.9695181250572205
+        ],
+        "mean": [
+            0.9958436949568875,
+            -0.0002104698274261931,
+            0.04052283227400759,
+            -0.0001094804547833023,
+            -0.9999635629393986,
+            -0.000607401697343727,
+            0.0405334888084822,
+            0.0005941337511296385,
+            -0.9958277852307795
+        ],
+        "std": [
+            0.0042545861834654706,
+            0.004615677258385032,
+            0.08132571702950947,
+            0.004576432364934215,
+            9.944380012038427e-05,
+            0.007255542149054062,
+            0.08132282278243012,
+            0.007229507639915883,
+            0.0042481115171925975
+        ],
+        "count": [
+            23480
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            23480
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            4.516666666666667
+        ],
+        "mean": [
+            1.9562755536626932
+        ],
+        "std": [
+            1.1434814724295514
+        ],
+        "count": [
+            23480
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            99
+        ],
+        "mean": [
+            49.680366269165255
+        ],
+        "std": [
+            28.919735712222977
+        ],
+        "count": [
+            23480
+        ]
+    },
+    "observation.images.tactile_left": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.8666666666666667
+                ]
+            ],
+            [
+                [
+                    0.7058823529411765
+                ]
+            ],
+            [
+                [
+                    0.8156862745098039
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.33254565437091516
+                ]
+            ],
+            [
+                [
+                    0.40688195218545753
+                ]
+            ],
+            [
+                [
+                    0.481467308272059
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.14798337054974833
+                ]
+            ],
+            [
+                [
+                    0.11574129524749677
+                ]
+            ],
+            [
+                [
+                    0.15070073719949192
+                ]
+            ]
+        ],
+        "count": [
+            10000
+        ]
+    },
+    "observation.finger_position": {
+        "min": [
+            0.0,
+            0.0
+        ],
+        "max": [
+            0.019102785736322403,
+            0.019101204350590706
+        ],
+        "mean": [
+            0.0038891147489852258,
+            0.0038891144007507047
+        ],
+        "std": [
+            0.007445695305089361,
+            0.007445701200886408
+        ],
+        "count": [
+            23480
+        ]
+    },
+    "observation.images.head": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.6262934958333334
+                ]
+            ],
+            [
+                [
+                    0.6018687735294121
+                ]
+            ],
+            [
+                [
+                    0.5727775080065359
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.18495358919502838
+                ]
+            ],
+            [
+                [
+                    0.1910971790859787
+                ]
+            ],
+            [
+                [
+                    0.2002292608588477
+                ]
+            ]
+        ],
+        "count": [
+            10000
+        ]
+    },
+    "observation.eef_pose_rotvec": {
+        "min": [
+            0.34616294503211975,
+            -0.033419977873563766,
+            0.17767032980918884,
+            -3.1415915489196777,
+            -0.13576683402061462,
+            -0.387810081243515
+        ],
+        "max": [
+            0.5649075508117676,
+            0.032645560801029205,
+            0.26362574100494385,
+            3.1415903568267822,
+            0.08999602496623993,
+            0.3870360255241394
+        ],
+        "mean": [
+            0.4711693199151521,
+            0.0007922599017197161,
+            0.1997730954904014,
+            0.39526623413093687,
+            -0.001151708234548379,
+            0.0032141499951350147
+        ],
+        "std": [
+            0.05953329044138401,
+            0.017478587230749375,
+            0.021113612530485666,
+            3.109119333257184,
+            0.007113466291854913,
+            0.14284678086892005
+        ],
+        "count": [
+            23480
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            271
+        ],
+        "mean": [
+            117.3765332197615
+        ],
+        "std": [
+            68.60888834577317
+        ],
+        "count": [
+            23480
+        ]
+    },
+    "observation.images.wrist": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    0.9725490196078431
+                ]
+            ],
+            [
+                [
+                    0.9764705882352941
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.5026588934912856
+                ]
+            ],
+            [
+                [
+                    0.4747252844498912
+                ]
+            ],
+            [
+                [
+                    0.4460484558278868
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.18462597850012083
+                ]
+            ],
+            [
+                [
+                    0.18639176241579639
+                ]
+            ],
+            [
+                [
+                    0.19086703498216612
+                ]
+            ]
+        ],
+        "count": [
+            10000
+        ]
+    },
+    "observation.state": {
+        "min": [
+            -0.0939224362373352,
+            -0.09244932234287262,
+            -0.0716952383518219,
+            -2.9185538291931152,
+            -0.09063628315925598,
+            2.393549919128418,
+            0.6241571307182312,
+            0.0
+        ],
+        "max": [
+            0.12529921531677246,
+            0.4565044343471527,
+            0.11785916239023209,
+            -2.1200177669525146,
+            0.10196030884981155,
+            3.126178741455078,
+            0.9317249059677124,
+            0.4773458242416382
+        ],
+        "mean": [
+            0.00661470390043962,
+            0.23115864890664053,
+            -0.0052591393086372975,
+            -2.498134380771923,
+            0.0009825314318341678,
+            2.769774638164591,
+            0.7866534010464329,
+            0.09722782434733804
+        ],
+        "std": [
+            0.037393179641799355,
+            0.12404133032464632,
+            0.01816119489313312,
+            0.20446581568432998,
+            0.02340392362531696,
+            0.17061459637540696,
+            0.052479886945806124,
+            0.18614249348941772
+        ],
+        "count": [
+            23480
+        ]
+    }
+}
\ No newline at end of file
diff --git a/Simulation/GelSight_mini/insert_USB/meta/tasks.jsonl b/Simulation/GelSight_mini/insert_USB/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..170b8a1958e3306340ee1eafd84803c56f1b5811
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Pick up the USB plug from the blue slot and insert it into the red USB slot."}
diff --git a/Simulation/GelSight_mini/insert_USB/meta/video_validation.json b/Simulation/GelSight_mini/insert_USB/meta/video_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..daa3dd1aa6a242cab7fc4c60307b65d105caed0e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/meta/video_validation.json
@@ -0,0 +1,2802 @@
+[
+  {
+    "episode_index": 0,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4952383041381836,
+    "bgr_mae": 15.731095631917318,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 0,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.0141684214274087,
+    "bgr_mae": 15.397683461507162,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 0,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.66996963818868,
+    "bgr_mae": 27.03753916422526,
+    "plain_rgb_mae": 10.991540908813477
+  },
+  {
+    "episode_index": 0,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.6303126017252603,
+    "bgr_mae": 27.240482966105144,
+    "plain_rgb_mae": 11.095425287882486
+  },
+  {
+    "episode_index": 1,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4397377173105874,
+    "bgr_mae": 13.874140739440918,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 1,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.807699680328369,
+    "bgr_mae": 15.514135042826334,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 1,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.365500529607137,
+    "bgr_mae": 26.868420282999676,
+    "plain_rgb_mae": 11.039804776509603
+  },
+  {
+    "episode_index": 1,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.3555497328440347,
+    "bgr_mae": 27.332412719726562,
+    "plain_rgb_mae": 11.109920183817545
+  },
+  {
+    "episode_index": 2,
+    "key": "observation.images.head",
+    "rgb_mae": 2.544670740763346,
+    "bgr_mae": 14.402616500854492,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 2,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.179039796193441,
+    "bgr_mae": 15.490588506062826,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 2,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.5693678061167398,
+    "bgr_mae": 27.620102564493816,
+    "plain_rgb_mae": 11.059149424235025
+  },
+  {
+    "episode_index": 2,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.53043262163798,
+    "bgr_mae": 27.027503967285156,
+    "plain_rgb_mae": 11.033767382303873
+  },
+  {
+    "episode_index": 3,
+    "key": "observation.images.head",
+    "rgb_mae": 2.395953337351481,
+    "bgr_mae": 15.617688496907553,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 3,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7079354921976724,
+    "bgr_mae": 15.66919231414795,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 3,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.4750463167826333,
+    "bgr_mae": 26.974465052286785,
+    "plain_rgb_mae": 10.981022834777832
+  },
+  {
+    "episode_index": 3,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.45695161819458,
+    "bgr_mae": 27.18840154012044,
+    "plain_rgb_mae": 11.093243598937988
+  },
+  {
+    "episode_index": 4,
+    "key": "observation.images.head",
+    "rgb_mae": 2.527179400126139,
+    "bgr_mae": 14.949761708577475,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 4,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.0152907371520996,
+    "bgr_mae": 15.371780395507812,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 4,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.6820485591888428,
+    "bgr_mae": 27.13140932718913,
+    "plain_rgb_mae": 10.94180711110433
+  },
+  {
+    "episode_index": 4,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.648418664932251,
+    "bgr_mae": 27.446271896362305,
+    "plain_rgb_mae": 10.986064592997232
+  },
+  {
+    "episode_index": 5,
+    "key": "observation.images.head",
+    "rgb_mae": 2.532276233037313,
+    "bgr_mae": 15.145309448242188,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 5,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.0383487542470298,
+    "bgr_mae": 15.342196464538574,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 5,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.5610864957173667,
+    "bgr_mae": 26.973615646362305,
+    "plain_rgb_mae": 11.024097124735514
+  },
+  {
+    "episode_index": 5,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.5556581815083823,
+    "bgr_mae": 27.828797658284504,
+    "plain_rgb_mae": 11.039295514424643
+  },
+  {
+    "episode_index": 6,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4184748331705728,
+    "bgr_mae": 14.78920873006185,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 6,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.8004466692606607,
+    "bgr_mae": 15.23566977183024,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 6,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.357323487599691,
+    "bgr_mae": 26.938961029052734,
+    "plain_rgb_mae": 10.993302981058756
+  },
+  {
+    "episode_index": 6,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.332042853037516,
+    "bgr_mae": 26.995694478352863,
+    "plain_rgb_mae": 11.074160893758139
+  },
+  {
+    "episode_index": 7,
+    "key": "observation.images.head",
+    "rgb_mae": 2.516045888264974,
+    "bgr_mae": 15.044327735900879,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 7,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.0628077189127603,
+    "bgr_mae": 16.347564061482746,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 7,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.555532375971476,
+    "bgr_mae": 26.787803649902344,
+    "plain_rgb_mae": 11.016775131225586
+  },
+  {
+    "episode_index": 7,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.5338802337646484,
+    "bgr_mae": 27.345717748006184,
+    "plain_rgb_mae": 11.133344650268555
+  },
+  {
+    "episode_index": 8,
+    "key": "observation.images.head",
+    "rgb_mae": 2.5270585219065347,
+    "bgr_mae": 13.646064122517904,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 8,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.9357004165649414,
+    "bgr_mae": 16.15975030263265,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 8,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.7031351725260415,
+    "bgr_mae": 27.026800791422527,
+    "plain_rgb_mae": 11.077860514322916
+  },
+  {
+    "episode_index": 8,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.670804421106974,
+    "bgr_mae": 27.6738338470459,
+    "plain_rgb_mae": 11.058732668558756
+  },
+  {
+    "episode_index": 9,
+    "key": "observation.images.head",
+    "rgb_mae": 2.436589558919271,
+    "bgr_mae": 15.116095542907715,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 9,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.8339566389719644,
+    "bgr_mae": 15.254251480102539,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 9,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.3427836100260415,
+    "bgr_mae": 27.3111146291097,
+    "plain_rgb_mae": 11.008139610290527
+  },
+  {
+    "episode_index": 9,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.36297599474589,
+    "bgr_mae": 27.691743850708008,
+    "plain_rgb_mae": 11.005833307902018
+  },
+  {
+    "episode_index": 10,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4671236673990884,
+    "bgr_mae": 15.190569877624512,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 10,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7756070295969644,
+    "bgr_mae": 15.182635307312012,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 10,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.373137950897217,
+    "bgr_mae": 27.377719243367512,
+    "plain_rgb_mae": 10.975273450215658
+  },
+  {
+    "episode_index": 10,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.3632538318634033,
+    "bgr_mae": 26.914323806762695,
+    "plain_rgb_mae": 10.993588129679361
+  },
+  {
+    "episode_index": 11,
+    "key": "observation.images.head",
+    "rgb_mae": 2.508290449778239,
+    "bgr_mae": 15.271845181783041,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 11,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.0381952126820884,
+    "bgr_mae": 16.625425974527996,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 11,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.5508246421813965,
+    "bgr_mae": 26.74499448140462,
+    "plain_rgb_mae": 11.034133275349935
+  },
+  {
+    "episode_index": 11,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.521914084752401,
+    "bgr_mae": 27.399391174316406,
+    "plain_rgb_mae": 11.133869806925455
+  },
+  {
+    "episode_index": 12,
+    "key": "observation.images.head",
+    "rgb_mae": 2.490734656651815,
+    "bgr_mae": 14.914059321085611,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 12,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.1159396966298423,
+    "bgr_mae": 15.317882537841797,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 12,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.6832435925801597,
+    "bgr_mae": 27.26943588256836,
+    "plain_rgb_mae": 11.036753336588541
+  },
+  {
+    "episode_index": 12,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.6626519362131753,
+    "bgr_mae": 27.437664031982422,
+    "plain_rgb_mae": 11.103336334228516
+  },
+  {
+    "episode_index": 13,
+    "key": "observation.images.head",
+    "rgb_mae": 2.421362320582072,
+    "bgr_mae": 15.196845690409342,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 13,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.8412183125813804,
+    "bgr_mae": 15.19724178314209,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 13,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.3713788191477456,
+    "bgr_mae": 26.94267209370931,
+    "plain_rgb_mae": 11.071979204813639
+  },
+  {
+    "episode_index": 13,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.3440016905466714,
+    "bgr_mae": 26.999521891276043,
+    "plain_rgb_mae": 11.07783571879069
+  },
+  {
+    "episode_index": 14,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4224297205607095,
+    "bgr_mae": 15.622809092203775,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 14,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.815722703933716,
+    "bgr_mae": 15.551952362060547,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 14,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.369408210118612,
+    "bgr_mae": 26.987669626871746,
+    "plain_rgb_mae": 11.044370969136557
+  },
+  {
+    "episode_index": 14,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.353101889292399,
+    "bgr_mae": 27.40247090657552,
+    "plain_rgb_mae": 11.070284843444824
+  },
+  {
+    "episode_index": 15,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4076457023620605,
+    "bgr_mae": 14.6777982711792,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 15,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7868595123291016,
+    "bgr_mae": 15.322464942932129,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 15,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.3712586561838784,
+    "bgr_mae": 26.847497304280598,
+    "plain_rgb_mae": 10.977622985839844
+  },
+  {
+    "episode_index": 15,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.3486457665761313,
+    "bgr_mae": 27.746565500895183,
+    "plain_rgb_mae": 10.998417218526205
+  },
+  {
+    "episode_index": 16,
+    "key": "observation.images.head",
+    "rgb_mae": 2.37191104888916,
+    "bgr_mae": 14.502341270446777,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 16,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.738922357559204,
+    "bgr_mae": 15.80827808380127,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 16,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.459665854771932,
+    "bgr_mae": 26.537848790486652,
+    "plain_rgb_mae": 10.950251579284668
+  },
+  {
+    "episode_index": 16,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.4732624689737954,
+    "bgr_mae": 27.7494633992513,
+    "plain_rgb_mae": 11.037980397542318
+  },
+  {
+    "episode_index": 17,
+    "key": "observation.images.head",
+    "rgb_mae": 2.3817849159240723,
+    "bgr_mae": 14.449074109395346,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 17,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7305607000986734,
+    "bgr_mae": 15.017640749613443,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 17,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.486501773198446,
+    "bgr_mae": 27.432578404744465,
+    "plain_rgb_mae": 10.963349342346191
+  },
+  {
+    "episode_index": 17,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.462785005569458,
+    "bgr_mae": 26.99078877766927,
+    "plain_rgb_mae": 10.985321362813314
+  },
+  {
+    "episode_index": 18,
+    "key": "observation.images.head",
+    "rgb_mae": 2.470188617706299,
+    "bgr_mae": 14.277498245239258,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 18,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.12600310643514,
+    "bgr_mae": 14.903777122497559,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 18,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.578106164932251,
+    "bgr_mae": 26.969935099283855,
+    "plain_rgb_mae": 11.053579012552897
+  },
+  {
+    "episode_index": 18,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.554428497950236,
+    "bgr_mae": 27.195206960042317,
+    "plain_rgb_mae": 11.145753860473633
+  },
+  {
+    "episode_index": 19,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4562199910481772,
+    "bgr_mae": 14.833420117696127,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 19,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.866034825642904,
+    "bgr_mae": 16.808609008789062,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 19,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.642345110575358,
+    "bgr_mae": 26.285247166951496,
+    "plain_rgb_mae": 10.978506724039713
+  },
+  {
+    "episode_index": 19,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.64803679784139,
+    "bgr_mae": 27.58454132080078,
+    "plain_rgb_mae": 10.975995381673178
+  },
+  {
+    "episode_index": 20,
+    "key": "observation.images.head",
+    "rgb_mae": 2.462103843688965,
+    "bgr_mae": 13.48501205444336,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 20,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.699955463409424,
+    "bgr_mae": 16.222566604614258,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 20,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.376142978668213,
+    "bgr_mae": 27.13258425394694,
+    "plain_rgb_mae": 11.046736399332682
+  },
+  {
+    "episode_index": 20,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.372397263844808,
+    "bgr_mae": 27.496410369873047,
+    "plain_rgb_mae": 11.033095995585123
+  },
+  {
+    "episode_index": 21,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4794650077819824,
+    "bgr_mae": 14.80908457438151,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 21,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.0716503461201987,
+    "bgr_mae": 15.628033955891928,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 21,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.6638020674387612,
+    "bgr_mae": 26.85376739501953,
+    "plain_rgb_mae": 11.000513394673666
+  },
+  {
+    "episode_index": 21,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.637910842895508,
+    "bgr_mae": 27.40025520324707,
+    "plain_rgb_mae": 11.10892645517985
+  },
+  {
+    "episode_index": 22,
+    "key": "observation.images.head",
+    "rgb_mae": 2.494384447733561,
+    "bgr_mae": 15.364641825358072,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 22,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.997725486755371,
+    "bgr_mae": 15.412919044494629,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 22,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.674913247426351,
+    "bgr_mae": 27.70584487915039,
+    "plain_rgb_mae": 10.968716621398926
+  },
+  {
+    "episode_index": 22,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.6636690298716226,
+    "bgr_mae": 27.107882181803387,
+    "plain_rgb_mae": 11.000624974568685
+  },
+  {
+    "episode_index": 23,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4703729152679443,
+    "bgr_mae": 15.331907590230307,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 23,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.034222364425659,
+    "bgr_mae": 15.703651428222656,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 23,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.6713107426961265,
+    "bgr_mae": 27.04287338256836,
+    "plain_rgb_mae": 11.028111775716146
+  },
+  {
+    "episode_index": 23,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.655646721522013,
+    "bgr_mae": 27.94394810994466,
+    "plain_rgb_mae": 11.02206039428711
+  },
+  {
+    "episode_index": 24,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4615474541982016,
+    "bgr_mae": 15.077303568522135,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 24,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.00974710782369,
+    "bgr_mae": 16.727135340372723,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 24,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.550140380859375,
+    "bgr_mae": 26.689729690551758,
+    "plain_rgb_mae": 11.03025754292806
+  },
+  {
+    "episode_index": 24,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.518162647883097,
+    "bgr_mae": 27.343472798665363,
+    "plain_rgb_mae": 11.095769564310709
+  },
+  {
+    "episode_index": 25,
+    "key": "observation.images.head",
+    "rgb_mae": 2.5499845345815024,
+    "bgr_mae": 15.91110610961914,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 25,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.0889583428700766,
+    "bgr_mae": 15.735218365987143,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 25,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.580345789591471,
+    "bgr_mae": 26.833569208780926,
+    "plain_rgb_mae": 11.004539807637533
+  },
+  {
+    "episode_index": 25,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.5617592334747314,
+    "bgr_mae": 27.565500259399414,
+    "plain_rgb_mae": 11.091613133748373
+  },
+  {
+    "episode_index": 26,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4945696194966636,
+    "bgr_mae": 15.213834126790365,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 26,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.969761610031128,
+    "bgr_mae": 16.38097922007243,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 26,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.5491434733072915,
+    "bgr_mae": 26.650185267130535,
+    "plain_rgb_mae": 11.013408660888672
+  },
+  {
+    "episode_index": 26,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.550868113835653,
+    "bgr_mae": 27.37632179260254,
+    "plain_rgb_mae": 11.12604014078776
+  },
+  {
+    "episode_index": 27,
+    "key": "observation.images.head",
+    "rgb_mae": 2.387426217397054,
+    "bgr_mae": 15.012333552042643,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 27,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7079320748647056,
+    "bgr_mae": 16.09355640411377,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 27,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.470590273539225,
+    "bgr_mae": 26.966284434000652,
+    "plain_rgb_mae": 11.012459437052408
+  },
+  {
+    "episode_index": 27,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.4772698879241943,
+    "bgr_mae": 27.849679946899414,
+    "plain_rgb_mae": 10.984781583150228
+  },
+  {
+    "episode_index": 28,
+    "key": "observation.images.head",
+    "rgb_mae": 2.3922874132792153,
+    "bgr_mae": 15.235672314961752,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 28,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.744215488433838,
+    "bgr_mae": 16.61640516916911,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 28,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.3629441261291504,
+    "bgr_mae": 26.809640248616535,
+    "plain_rgb_mae": 11.053444862365723
+  },
+  {
+    "episode_index": 28,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.350710312525431,
+    "bgr_mae": 27.037654876708984,
+    "plain_rgb_mae": 11.007307688395182
+  },
+  {
+    "episode_index": 29,
+    "key": "observation.images.head",
+    "rgb_mae": 2.5070155461629233,
+    "bgr_mae": 15.400297482808432,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 29,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.0119102001190186,
+    "bgr_mae": 15.634085973103842,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 29,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.5639482339223227,
+    "bgr_mae": 26.599153518676758,
+    "plain_rgb_mae": 10.978901863098145
+  },
+  {
+    "episode_index": 29,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.539417028427124,
+    "bgr_mae": 27.73064676920573,
+    "plain_rgb_mae": 11.095111211140951
+  },
+  {
+    "episode_index": 30,
+    "key": "observation.images.head",
+    "rgb_mae": 2.384793440500895,
+    "bgr_mae": 14.807473182678223,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 30,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.747776826222738,
+    "bgr_mae": 15.482142448425293,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 30,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.465322653452555,
+    "bgr_mae": 26.933017094930012,
+    "plain_rgb_mae": 10.981739044189453
+  },
+  {
+    "episode_index": 30,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.4578616619110107,
+    "bgr_mae": 27.348662694295246,
+    "plain_rgb_mae": 11.063725153605143
+  },
+  {
+    "episode_index": 31,
+    "key": "observation.images.head",
+    "rgb_mae": 2.5132553577423096,
+    "bgr_mae": 14.760753631591797,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 31,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.9896939595540366,
+    "bgr_mae": 15.692891756693522,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 31,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.687771956125895,
+    "bgr_mae": 27.384667078653973,
+    "plain_rgb_mae": 11.02362855275472
+  },
+  {
+    "episode_index": 31,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.646427949269613,
+    "bgr_mae": 27.782984415690105,
+    "plain_rgb_mae": 10.984738032023111
+  },
+  {
+    "episode_index": 32,
+    "key": "observation.images.head",
+    "rgb_mae": 2.525899330774943,
+    "bgr_mae": 15.299090385437012,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 32,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.0917558670043945,
+    "bgr_mae": 15.738175392150879,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 32,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.545205513636271,
+    "bgr_mae": 27.10133934020996,
+    "plain_rgb_mae": 11.01311175028483
+  },
+  {
+    "episode_index": 32,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.5500651200612388,
+    "bgr_mae": 27.29541015625,
+    "plain_rgb_mae": 11.10352865854899
+  },
+  {
+    "episode_index": 33,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4202400843302407,
+    "bgr_mae": 14.3839111328125,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 33,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.705223719278971,
+    "bgr_mae": 15.428870836893717,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 33,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.4747511545817056,
+    "bgr_mae": 27.419352213541668,
+    "plain_rgb_mae": 10.982300440470377
+  },
+  {
+    "episode_index": 33,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.4586660861968994,
+    "bgr_mae": 27.81397819519043,
+    "plain_rgb_mae": 10.9819704691569
+  },
+  {
+    "episode_index": 34,
+    "key": "observation.images.head",
+    "rgb_mae": 2.497185309727987,
+    "bgr_mae": 14.977590243021647,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 34,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.111910104751587,
+    "bgr_mae": 16.187633832295734,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 34,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.5494603315989175,
+    "bgr_mae": 26.787304560343426,
+    "plain_rgb_mae": 11.071100870768229
+  },
+  {
+    "episode_index": 34,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.556542237599691,
+    "bgr_mae": 27.449302037556965,
+    "plain_rgb_mae": 11.101848920186361
+  },
+  {
+    "episode_index": 35,
+    "key": "observation.images.head",
+    "rgb_mae": 2.375018914540609,
+    "bgr_mae": 14.830024083455404,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 35,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7556395530700684,
+    "bgr_mae": 15.298873583475748,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 35,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.479537010192871,
+    "bgr_mae": 26.94582748413086,
+    "plain_rgb_mae": 11.003599484761557
+  },
+  {
+    "episode_index": 35,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.461412032445272,
+    "bgr_mae": 27.849050521850586,
+    "plain_rgb_mae": 10.998438835144043
+  },
+  {
+    "episode_index": 36,
+    "key": "observation.images.head",
+    "rgb_mae": 2.3886590798695884,
+    "bgr_mae": 15.481762886047363,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 36,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7645224730173745,
+    "bgr_mae": 15.316300710042318,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 36,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.472086270650228,
+    "bgr_mae": 27.674331665039062,
+    "plain_rgb_mae": 10.960994084676107
+  },
+  {
+    "episode_index": 36,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.474337418874105,
+    "bgr_mae": 26.9427433013916,
+    "plain_rgb_mae": 10.969419797261557
+  },
+  {
+    "episode_index": 37,
+    "key": "observation.images.head",
+    "rgb_mae": 2.57556422551473,
+    "bgr_mae": 14.977691968282064,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 37,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.061207135518392,
+    "bgr_mae": 15.259711901346842,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 37,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.5662355422973633,
+    "bgr_mae": 27.303073247273762,
+    "plain_rgb_mae": 11.040761311848959
+  },
+  {
+    "episode_index": 37,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.5481958389282227,
+    "bgr_mae": 27.226002375284832,
+    "plain_rgb_mae": 11.016621907552084
+  },
+  {
+    "episode_index": 38,
+    "key": "observation.images.head",
+    "rgb_mae": 2.512495676676432,
+    "bgr_mae": 13.640074412027994,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 38,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.0282416343688965,
+    "bgr_mae": 16.24306519826253,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 38,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.57322629292806,
+    "bgr_mae": 26.84240468343099,
+    "plain_rgb_mae": 11.029081344604492
+  },
+  {
+    "episode_index": 38,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.5691709518432617,
+    "bgr_mae": 27.34820493062337,
+    "plain_rgb_mae": 11.162037213643393
+  },
+  {
+    "episode_index": 39,
+    "key": "observation.images.head",
+    "rgb_mae": 2.415952523549398,
+    "bgr_mae": 15.54272206624349,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 39,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.757826646169027,
+    "bgr_mae": 15.75634479522705,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 39,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.3583405017852783,
+    "bgr_mae": 26.782270431518555,
+    "plain_rgb_mae": 10.933679262797037
+  },
+  {
+    "episode_index": 39,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.3586819966634116,
+    "bgr_mae": 27.27602259318034,
+    "plain_rgb_mae": 10.983742713928223
+  },
+  {
+    "episode_index": 40,
+    "key": "observation.images.head",
+    "rgb_mae": 2.34210475285848,
+    "bgr_mae": 14.886427561442057,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 40,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.807241121927897,
+    "bgr_mae": 16.523431142171223,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 40,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.3554065227508545,
+    "bgr_mae": 26.981845219930012,
+    "plain_rgb_mae": 10.971044540405273
+  },
+  {
+    "episode_index": 40,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.3386776447296143,
+    "bgr_mae": 27.139322916666668,
+    "plain_rgb_mae": 10.98821767171224
+  },
+  {
+    "episode_index": 41,
+    "key": "observation.images.head",
+    "rgb_mae": 2.51540470123291,
+    "bgr_mae": 14.68246587117513,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 41,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.9550925890604653,
+    "bgr_mae": 15.37421989440918,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 41,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.6893677711486816,
+    "bgr_mae": 27.14361572265625,
+    "plain_rgb_mae": 11.039735158284506
+  },
+  {
+    "episode_index": 41,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.6275636355082193,
+    "bgr_mae": 27.34433428446452,
+    "plain_rgb_mae": 11.072092056274414
+  },
+  {
+    "episode_index": 42,
+    "key": "observation.images.head",
+    "rgb_mae": 2.44438099861145,
+    "bgr_mae": 14.348501205444336,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 42,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.764201005299886,
+    "bgr_mae": 16.305171330769856,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 42,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.369072675704956,
+    "bgr_mae": 26.77012888590495,
+    "plain_rgb_mae": 10.982789357503256
+  },
+  {
+    "episode_index": 42,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.35923178990682,
+    "bgr_mae": 27.248268127441406,
+    "plain_rgb_mae": 11.104814847310385
+  },
+  {
+    "episode_index": 43,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4796202182769775,
+    "bgr_mae": 13.997933069864908,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 43,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.798447370529175,
+    "bgr_mae": 15.288634300231934,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 43,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.372297445933024,
+    "bgr_mae": 26.892574946085613,
+    "plain_rgb_mae": 11.014551798502604
+  },
+  {
+    "episode_index": 43,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.354425589243571,
+    "bgr_mae": 27.813404083251953,
+    "plain_rgb_mae": 11.017329216003418
+  },
+  {
+    "episode_index": 44,
+    "key": "observation.images.head",
+    "rgb_mae": 2.3971621990203857,
+    "bgr_mae": 14.781614939371744,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 44,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.693114757537842,
+    "bgr_mae": 15.54908561706543,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 44,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.4679831663767495,
+    "bgr_mae": 26.969160715738933,
+    "plain_rgb_mae": 11.00056266784668
+  },
+  {
+    "episode_index": 44,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.456028620402018,
+    "bgr_mae": 27.436066309611004,
+    "plain_rgb_mae": 11.048981666564941
+  },
+  {
+    "episode_index": 45,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4818193117777505,
+    "bgr_mae": 14.593180974324545,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 45,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.9324254194895425,
+    "bgr_mae": 16.534961382548016,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 45,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.6574783325195312,
+    "bgr_mae": 26.925641377766926,
+    "plain_rgb_mae": 10.990232785542807
+  },
+  {
+    "episode_index": 45,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.6466305255889893,
+    "bgr_mae": 27.514514923095703,
+    "plain_rgb_mae": 11.051281611124674
+  },
+  {
+    "episode_index": 46,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4676371415456138,
+    "bgr_mae": 14.22933832804362,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 46,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7716015179951987,
+    "bgr_mae": 16.2183936436971,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 46,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.3742013772328696,
+    "bgr_mae": 26.888437906901043,
+    "plain_rgb_mae": 11.048696517944336
+  },
+  {
+    "episode_index": 46,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.3624768257141113,
+    "bgr_mae": 27.207462310791016,
+    "plain_rgb_mae": 11.1205685933431
+  },
+  {
+    "episode_index": 47,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4715235233306885,
+    "bgr_mae": 15.770991961161295,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 47,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.977485418319702,
+    "bgr_mae": 16.13053099314372,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 47,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.6452459494272866,
+    "bgr_mae": 26.726220448811848,
+    "plain_rgb_mae": 10.987472534179688
+  },
+  {
+    "episode_index": 47,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.6317548751831055,
+    "bgr_mae": 27.916323979695637,
+    "plain_rgb_mae": 11.001989364624023
+  },
+  {
+    "episode_index": 48,
+    "key": "observation.images.head",
+    "rgb_mae": 2.370222886403402,
+    "bgr_mae": 15.336853663126627,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 48,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7533547083536782,
+    "bgr_mae": 15.337166468302408,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 48,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.4659765561421714,
+    "bgr_mae": 27.441884994506836,
+    "plain_rgb_mae": 10.95192019144694
+  },
+  {
+    "episode_index": 48,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.4782580534617105,
+    "bgr_mae": 27.121458053588867,
+    "plain_rgb_mae": 10.993372599283854
+  },
+  {
+    "episode_index": 49,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4205760955810547,
+    "bgr_mae": 15.009111722310385,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 49,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7129201094309487,
+    "bgr_mae": 15.467933654785156,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 49,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.477994759877523,
+    "bgr_mae": 27.728755315144856,
+    "plain_rgb_mae": 10.973656018575033
+  },
+  {
+    "episode_index": 49,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.459633986155192,
+    "bgr_mae": 27.49950408935547,
+    "plain_rgb_mae": 10.94476572672526
+  },
+  {
+    "episode_index": 50,
+    "key": "observation.images.head",
+    "rgb_mae": 2.388858954111735,
+    "bgr_mae": 14.750494639078775,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 50,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7382750511169434,
+    "bgr_mae": 16.50806999206543,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 50,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.36270538965861,
+    "bgr_mae": 26.5111509958903,
+    "plain_rgb_mae": 11.011444091796875
+  },
+  {
+    "episode_index": 50,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.36236834526062,
+    "bgr_mae": 27.61207644144694,
+    "plain_rgb_mae": 11.037760098775228
+  },
+  {
+    "episode_index": 51,
+    "key": "observation.images.head",
+    "rgb_mae": 2.3688769340515137,
+    "bgr_mae": 14.825711886088053,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 51,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.690338611602783,
+    "bgr_mae": 16.14254856109619,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 51,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.480679988861084,
+    "bgr_mae": 26.820283889770508,
+    "plain_rgb_mae": 10.956160227457682
+  },
+  {
+    "episode_index": 51,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.4737428029378257,
+    "bgr_mae": 27.465834935506184,
+    "plain_rgb_mae": 11.03586483001709
+  },
+  {
+    "episode_index": 52,
+    "key": "observation.images.head",
+    "rgb_mae": 2.3999725182851157,
+    "bgr_mae": 15.51032574971517,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 52,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7173096338907876,
+    "bgr_mae": 15.774205843607584,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 52,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.4608869552612305,
+    "bgr_mae": 26.77804183959961,
+    "plain_rgb_mae": 11.01498826344808
+  },
+  {
+    "episode_index": 52,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.469937801361084,
+    "bgr_mae": 27.64788055419922,
+    "plain_rgb_mae": 11.010156313578287
+  },
+  {
+    "episode_index": 53,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4553823471069336,
+    "bgr_mae": 14.74645741780599,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 53,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.8286643028259277,
+    "bgr_mae": 14.912659327189127,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 53,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.3659880956014,
+    "bgr_mae": 26.842483520507812,
+    "plain_rgb_mae": 11.049983978271484
+  },
+  {
+    "episode_index": 53,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.346864859263102,
+    "bgr_mae": 26.980044682820637,
+    "plain_rgb_mae": 11.065100034077963
+  },
+  {
+    "episode_index": 54,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4851929346720376,
+    "bgr_mae": 15.124188105265299,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 54,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.0695954163869223,
+    "bgr_mae": 15.665596644083658,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 54,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.659797430038452,
+    "bgr_mae": 26.488361994425457,
+    "plain_rgb_mae": 10.944794654846191
+  },
+  {
+    "episode_index": 54,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.6559722423553467,
+    "bgr_mae": 27.71337064107259,
+    "plain_rgb_mae": 11.053210258483887
+  },
+  {
+    "episode_index": 55,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4214823246002197,
+    "bgr_mae": 15.55868911743164,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 55,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7828832467397056,
+    "bgr_mae": 15.464484532674154,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 55,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.36942990620931,
+    "bgr_mae": 27.600810368855793,
+    "plain_rgb_mae": 11.040839195251465
+  },
+  {
+    "episode_index": 55,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.3533376852671304,
+    "bgr_mae": 27.437849044799805,
+    "plain_rgb_mae": 10.98521868387858
+  },
+  {
+    "episode_index": 56,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4540278116861978,
+    "bgr_mae": 14.16065502166748,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 56,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7695173422495523,
+    "bgr_mae": 16.359153111775715,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 56,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.352177381515503,
+    "bgr_mae": 26.514214197794598,
+    "plain_rgb_mae": 11.021828651428223
+  },
+  {
+    "episode_index": 56,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.3571629524230957,
+    "bgr_mae": 27.645273208618164,
+    "plain_rgb_mae": 11.030564308166504
+  },
+  {
+    "episode_index": 57,
+    "key": "observation.images.head",
+    "rgb_mae": 2.3803892930348716,
+    "bgr_mae": 15.259976069132486,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 57,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.77345077196757,
+    "bgr_mae": 15.618942578633627,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 57,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.4755540688832602,
+    "bgr_mae": 26.90021514892578,
+    "plain_rgb_mae": 11.007578214009603
+  },
+  {
+    "episode_index": 57,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.472845713297526,
+    "bgr_mae": 27.228600819905598,
+    "plain_rgb_mae": 11.102777798970541
+  },
+  {
+    "episode_index": 58,
+    "key": "observation.images.head",
+    "rgb_mae": 2.5676422913869223,
+    "bgr_mae": 13.543972651163736,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 58,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.0584113597869873,
+    "bgr_mae": 15.94830322265625,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 58,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.5699522495269775,
+    "bgr_mae": 26.869179407755535,
+    "plain_rgb_mae": 11.023967107137045
+  },
+  {
+    "episode_index": 58,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.5570688247680664,
+    "bgr_mae": 27.735353469848633,
+    "plain_rgb_mae": 11.085954666137695
+  },
+  {
+    "episode_index": 59,
+    "key": "observation.images.head",
+    "rgb_mae": 2.465341250101725,
+    "bgr_mae": 15.647798538208008,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 59,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.066045045852661,
+    "bgr_mae": 15.452332814534506,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 59,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.6610416571299234,
+    "bgr_mae": 27.270037333170574,
+    "plain_rgb_mae": 11.013372421264648
+  },
+  {
+    "episode_index": 59,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.6356959342956543,
+    "bgr_mae": 27.426236470540363,
+    "plain_rgb_mae": 11.092844327290853
+  },
+  {
+    "episode_index": 60,
+    "key": "observation.images.head",
+    "rgb_mae": 2.537928660710653,
+    "bgr_mae": 15.055838584899902,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 60,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.0930658976236978,
+    "bgr_mae": 15.44210402170817,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 60,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.5631062189737954,
+    "bgr_mae": 27.22738520304362,
+    "plain_rgb_mae": 11.0128386815389
+  },
+  {
+    "episode_index": 60,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.541922648747762,
+    "bgr_mae": 27.528311411539715,
+    "plain_rgb_mae": 11.022932370503744
+  },
+  {
+    "episode_index": 61,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4401303132375083,
+    "bgr_mae": 13.828670819600424,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 61,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.78336501121521,
+    "bgr_mae": 15.50705655415853,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 61,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.347226540247599,
+    "bgr_mae": 26.879422505696613,
+    "plain_rgb_mae": 10.981721560160318
+  },
+  {
+    "episode_index": 61,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.3415740331014,
+    "bgr_mae": 27.121591567993164,
+    "plain_rgb_mae": 11.100192387898764
+  },
+  {
+    "episode_index": 62,
+    "key": "observation.images.head",
+    "rgb_mae": 2.5694169998168945,
+    "bgr_mae": 14.865435600280762,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 62,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.08720334370931,
+    "bgr_mae": 15.64178498586019,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 62,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.5635460217793784,
+    "bgr_mae": 26.92121124267578,
+    "plain_rgb_mae": 10.943113644917807
+  },
+  {
+    "episode_index": 62,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.5543836752573648,
+    "bgr_mae": 27.468345006306965,
+    "plain_rgb_mae": 11.009029070536295
+  },
+  {
+    "episode_index": 63,
+    "key": "observation.images.head",
+    "rgb_mae": 2.3996262550354004,
+    "bgr_mae": 14.949495951334635,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 63,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.695992867151896,
+    "bgr_mae": 15.774336179097494,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 63,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.4517823855082193,
+    "bgr_mae": 26.67321713765462,
+    "plain_rgb_mae": 10.868008931477865
+  },
+  {
+    "episode_index": 63,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.4595297972361245,
+    "bgr_mae": 27.654165267944336,
+    "plain_rgb_mae": 10.965973854064941
+  },
+  {
+    "episode_index": 64,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4534080028533936,
+    "bgr_mae": 15.009121259053549,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 64,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.935608704884847,
+    "bgr_mae": 16.465630849202473,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 64,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.67869504292806,
+    "bgr_mae": 26.755237579345703,
+    "plain_rgb_mae": 11.068752924601236
+  },
+  {
+    "episode_index": 64,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.6667505900065103,
+    "bgr_mae": 27.586907068888348,
+    "plain_rgb_mae": 11.071241696675619
+  },
+  {
+    "episode_index": 65,
+    "key": "observation.images.head",
+    "rgb_mae": 2.384366432825724,
+    "bgr_mae": 15.47356923421224,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 65,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.8271021842956543,
+    "bgr_mae": 16.105745951334637,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 65,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.3593055407206216,
+    "bgr_mae": 26.660104115804035,
+    "plain_rgb_mae": 10.974234580993652
+  },
+  {
+    "episode_index": 65,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.336484352747599,
+    "bgr_mae": 27.65548833211263,
+    "plain_rgb_mae": 11.005396207173666
+  },
+  {
+    "episode_index": 66,
+    "key": "observation.images.head",
+    "rgb_mae": 2.340235869089762,
+    "bgr_mae": 14.759378751118978,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 66,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.790003458658854,
+    "bgr_mae": 16.574811299641926,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 66,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.3711024125417075,
+    "bgr_mae": 26.493391672770183,
+    "plain_rgb_mae": 11.043070157368978
+  },
+  {
+    "episode_index": 66,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.3630526065826416,
+    "bgr_mae": 27.326356887817383,
+    "plain_rgb_mae": 11.030961990356445
+  },
+  {
+    "episode_index": 67,
+    "key": "observation.images.head",
+    "rgb_mae": 2.3817763328552246,
+    "bgr_mae": 15.512323379516602,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 67,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.8595687548319497,
+    "bgr_mae": 15.513288180033365,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 67,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.372624397277832,
+    "bgr_mae": 27.305627822875977,
+    "plain_rgb_mae": 11.031041781107584
+  },
+  {
+    "episode_index": 67,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.3627444903055825,
+    "bgr_mae": 27.689564387003582,
+    "plain_rgb_mae": 11.025800069173178
+  },
+  {
+    "episode_index": 68,
+    "key": "observation.images.head",
+    "rgb_mae": 2.542293389638265,
+    "bgr_mae": 14.77768611907959,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 68,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.993900934855143,
+    "bgr_mae": 16.01815350850423,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 68,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.647550582885742,
+    "bgr_mae": 27.040820439656574,
+    "plain_rgb_mae": 11.024036407470703
+  },
+  {
+    "episode_index": 68,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.636193593343099,
+    "bgr_mae": 27.700944900512695,
+    "plain_rgb_mae": 10.978129386901855
+  },
+  {
+    "episode_index": 69,
+    "key": "observation.images.head",
+    "rgb_mae": 2.544573942820231,
+    "bgr_mae": 14.5055513381958,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 69,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.1129329999287925,
+    "bgr_mae": 15.239858309427897,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 69,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.5425593058268228,
+    "bgr_mae": 27.1381409962972,
+    "plain_rgb_mae": 11.01599407196045
+  },
+  {
+    "episode_index": 69,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.5208029747009277,
+    "bgr_mae": 27.29746373494466,
+    "plain_rgb_mae": 11.081502914428711
+  },
+  {
+    "episode_index": 70,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4030161698659263,
+    "bgr_mae": 14.391034126281738,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 70,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.6967652638753257,
+    "bgr_mae": 14.893531481424967,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 70,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.4690104325612388,
+    "bgr_mae": 27.444061915079754,
+    "plain_rgb_mae": 10.967381477355957
+  },
+  {
+    "episode_index": 70,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.482841412226359,
+    "bgr_mae": 26.990252176920574,
+    "plain_rgb_mae": 11.00395393371582
+  },
+  {
+    "episode_index": 71,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4133307933807373,
+    "bgr_mae": 14.420246124267578,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 71,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7070585091908774,
+    "bgr_mae": 15.28553040822347,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 71,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.477083365122477,
+    "bgr_mae": 26.73175621032715,
+    "plain_rgb_mae": 10.93959935506185
+  },
+  {
+    "episode_index": 71,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.4461328188578286,
+    "bgr_mae": 27.644992192586262,
+    "plain_rgb_mae": 10.982864697774252
+  },
+  {
+    "episode_index": 72,
+    "key": "observation.images.head",
+    "rgb_mae": 2.390228033065796,
+    "bgr_mae": 14.839468638102213,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 72,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.721190849939982,
+    "bgr_mae": 16.146511395772297,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 72,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.452209154764811,
+    "bgr_mae": 26.59533754984538,
+    "plain_rgb_mae": 11.023887634277344
+  },
+  {
+    "episode_index": 72,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.4696152210235596,
+    "bgr_mae": 27.755202611287434,
+    "plain_rgb_mae": 10.998197237650553
+  },
+  {
+    "episode_index": 73,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4056549866994223,
+    "bgr_mae": 15.508166948954264,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 73,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7927401065826416,
+    "bgr_mae": 15.650473276774088,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 73,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.3617173035939536,
+    "bgr_mae": 27.211069107055664,
+    "plain_rgb_mae": 11.02542241414388
+  },
+  {
+    "episode_index": 73,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.3610430558522544,
+    "bgr_mae": 27.490849177042644,
+    "plain_rgb_mae": 11.011244138081869
+  },
+  {
+    "episode_index": 74,
+    "key": "observation.images.head",
+    "rgb_mae": 2.38140861193339,
+    "bgr_mae": 15.465366045633951,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 74,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.72042187054952,
+    "bgr_mae": 14.677443504333496,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 74,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.478848377863566,
+    "bgr_mae": 27.05980110168457,
+    "plain_rgb_mae": 11.024214426676432
+  },
+  {
+    "episode_index": 74,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.447397311528524,
+    "bgr_mae": 27.19112714131673,
+    "plain_rgb_mae": 11.07065232594808
+  },
+  {
+    "episode_index": 75,
+    "key": "observation.images.head",
+    "rgb_mae": 2.5048850377400718,
+    "bgr_mae": 15.18761126200358,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 75,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.989949385325114,
+    "bgr_mae": 15.360575358072916,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 75,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.6776576042175293,
+    "bgr_mae": 27.242060979207356,
+    "plain_rgb_mae": 11.030898412068685
+  },
+  {
+    "episode_index": 75,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.6477474371592202,
+    "bgr_mae": 27.431217193603516,
+    "plain_rgb_mae": 11.085859298706055
+  },
+  {
+    "episode_index": 76,
+    "key": "observation.images.head",
+    "rgb_mae": 2.5094985167185464,
+    "bgr_mae": 15.103360176086426,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 76,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.0168166955312095,
+    "bgr_mae": 16.118406295776367,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 76,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.651694138844808,
+    "bgr_mae": 26.767860412597656,
+    "plain_rgb_mae": 10.972743352254232
+  },
+  {
+    "episode_index": 76,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.628336191177368,
+    "bgr_mae": 28.024678548177082,
+    "plain_rgb_mae": 10.999444643656412
+  },
+  {
+    "episode_index": 77,
+    "key": "observation.images.head",
+    "rgb_mae": 2.479851722717285,
+    "bgr_mae": 15.224675178527832,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 77,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.034431536992391,
+    "bgr_mae": 15.866271336873373,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 77,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.6730194091796875,
+    "bgr_mae": 27.118106206258137,
+    "plain_rgb_mae": 10.984317143758139
+  },
+  {
+    "episode_index": 77,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.63362709681193,
+    "bgr_mae": 27.28152338663737,
+    "plain_rgb_mae": 11.086113611857096
+  },
+  {
+    "episode_index": 78,
+    "key": "observation.images.head",
+    "rgb_mae": 2.5167755285898843,
+    "bgr_mae": 14.874589284261068,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 78,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.1558667023976645,
+    "bgr_mae": 15.327946980794271,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 78,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.58135994275411,
+    "bgr_mae": 27.423116048177082,
+    "plain_rgb_mae": 11.01329263051351
+  },
+  {
+    "episode_index": 78,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.5565523306528726,
+    "bgr_mae": 27.29785410563151,
+    "plain_rgb_mae": 11.035205523173014
+  },
+  {
+    "episode_index": 79,
+    "key": "observation.images.head",
+    "rgb_mae": 2.3471433321634927,
+    "bgr_mae": 15.107858657836914,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 79,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7468810081481934,
+    "bgr_mae": 14.977165540059408,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 79,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.4744820594787598,
+    "bgr_mae": 27.385069529215496,
+    "plain_rgb_mae": 11.012786547342936
+  },
+  {
+    "episode_index": 79,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.4346644083658853,
+    "bgr_mae": 27.354962666829426,
+    "plain_rgb_mae": 11.040525118509928
+  },
+  {
+    "episode_index": 80,
+    "key": "observation.images.head",
+    "rgb_mae": 2.3387182553609214,
+    "bgr_mae": 15.219875653584799,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 80,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.759559392929077,
+    "bgr_mae": 16.050927480061848,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 80,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.455571492513021,
+    "bgr_mae": 27.17219416300456,
+    "plain_rgb_mae": 10.979949315388998
+  },
+  {
+    "episode_index": 80,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.4554803371429443,
+    "bgr_mae": 27.26088523864746,
+    "plain_rgb_mae": 10.980827649434408
+  },
+  {
+    "episode_index": 81,
+    "key": "observation.images.head",
+    "rgb_mae": 2.3635168075561523,
+    "bgr_mae": 15.326119740804037,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 81,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7241323788960776,
+    "bgr_mae": 14.84588654836019,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 81,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.4739322662353516,
+    "bgr_mae": 26.89539337158203,
+    "plain_rgb_mae": 11.0540189743042
+  },
+  {
+    "episode_index": 81,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.470753828684489,
+    "bgr_mae": 27.095082600911457,
+    "plain_rgb_mae": 11.086348533630371
+  },
+  {
+    "episode_index": 82,
+    "key": "observation.images.head",
+    "rgb_mae": 2.3748464584350586,
+    "bgr_mae": 15.137298583984375,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 82,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7734954357147217,
+    "bgr_mae": 15.574907938639322,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 82,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.4767375787099204,
+    "bgr_mae": 27.30557696024577,
+    "plain_rgb_mae": 11.042407353719076
+  },
+  {
+    "episode_index": 82,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.441808541615804,
+    "bgr_mae": 27.381773630777996,
+    "plain_rgb_mae": 11.011253039042154
+  },
+  {
+    "episode_index": 83,
+    "key": "observation.images.head",
+    "rgb_mae": 2.388165314992269,
+    "bgr_mae": 15.552812258402506,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 83,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.82910148302714,
+    "bgr_mae": 15.52926254272461,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 83,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.376034418741862,
+    "bgr_mae": 27.78510856628418,
+    "plain_rgb_mae": 10.978090286254883
+  },
+  {
+    "episode_index": 83,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.3506365617116294,
+    "bgr_mae": 26.751773834228516,
+    "plain_rgb_mae": 10.98519229888916
+  },
+  {
+    "episode_index": 84,
+    "key": "observation.images.head",
+    "rgb_mae": 2.3491786321004233,
+    "bgr_mae": 15.137839635213217,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 84,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.743300755818685,
+    "bgr_mae": 15.12098757425944,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 84,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.4912962913513184,
+    "bgr_mae": 26.99869728088379,
+    "plain_rgb_mae": 11.04442310333252
+  },
+  {
+    "episode_index": 84,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.4624146620432534,
+    "bgr_mae": 27.115163803100586,
+    "plain_rgb_mae": 11.087822596232096
+  },
+  {
+    "episode_index": 85,
+    "key": "observation.images.head",
+    "rgb_mae": 2.456064780553182,
+    "bgr_mae": 14.856294631958008,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 85,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.005618095397949,
+    "bgr_mae": 15.304868698120117,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 85,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.6824652353922525,
+    "bgr_mae": 27.36795425415039,
+    "plain_rgb_mae": 10.98895517985026
+  },
+  {
+    "episode_index": 85,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.6585850715637207,
+    "bgr_mae": 27.43414052327474,
+    "plain_rgb_mae": 10.995198249816895
+  },
+  {
+    "episode_index": 86,
+    "key": "observation.images.head",
+    "rgb_mae": 2.5032878716786704,
+    "bgr_mae": 15.338459650675455,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 86,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.057170788447062,
+    "bgr_mae": 15.576587994893393,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 86,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.590651035308838,
+    "bgr_mae": 27.036492665608723,
+    "plain_rgb_mae": 11.001137097676596
+  },
+  {
+    "episode_index": 86,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.5837008158365884,
+    "bgr_mae": 27.457468032836914,
+    "plain_rgb_mae": 11.071630477905273
+  },
+  {
+    "episode_index": 87,
+    "key": "observation.images.head",
+    "rgb_mae": 2.5005504290262857,
+    "bgr_mae": 14.97303835550944,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 87,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.9630281130472818,
+    "bgr_mae": 15.377609888712565,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 87,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.66220490137736,
+    "bgr_mae": 27.588700612386067,
+    "plain_rgb_mae": 10.973947842915853
+  },
+  {
+    "episode_index": 87,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.64307435353597,
+    "bgr_mae": 27.1429386138916,
+    "plain_rgb_mae": 10.983899116516113
+  },
+  {
+    "episode_index": 88,
+    "key": "observation.images.head",
+    "rgb_mae": 2.5672667821248374,
+    "bgr_mae": 14.030569076538086,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 88,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.105078856150309,
+    "bgr_mae": 15.792345682779947,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 88,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.5525636672973633,
+    "bgr_mae": 27.062233606974285,
+    "plain_rgb_mae": 11.050679842631022
+  },
+  {
+    "episode_index": 88,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.5416478315989175,
+    "bgr_mae": 27.547550837198894,
+    "plain_rgb_mae": 11.054087003072103
+  },
+  {
+    "episode_index": 89,
+    "key": "observation.images.head",
+    "rgb_mae": 2.5478738149007163,
+    "bgr_mae": 14.741313616434732,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 89,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.090778430302938,
+    "bgr_mae": 15.189125696818033,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 89,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.69651468594869,
+    "bgr_mae": 27.11339823404948,
+    "plain_rgb_mae": 11.03622817993164
+  },
+  {
+    "episode_index": 89,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.6932219664255777,
+    "bgr_mae": 27.354937235514324,
+    "plain_rgb_mae": 11.15222962697347
+  },
+  {
+    "episode_index": 90,
+    "key": "observation.images.head",
+    "rgb_mae": 2.521634101867676,
+    "bgr_mae": 14.484814961751303,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 90,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.129098097483317,
+    "bgr_mae": 15.873840967814127,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 90,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.598515590031942,
+    "bgr_mae": 27.821449279785156,
+    "plain_rgb_mae": 11.041597366333008
+  },
+  {
+    "episode_index": 90,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.5637702147165933,
+    "bgr_mae": 27.469053268432617,
+    "plain_rgb_mae": 11.010662396748861
+  },
+  {
+    "episode_index": 91,
+    "key": "observation.images.head",
+    "rgb_mae": 2.5378900369008384,
+    "bgr_mae": 14.95296541849772,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 91,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.032264232635498,
+    "bgr_mae": 15.6409543355306,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 91,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.580901304880778,
+    "bgr_mae": 27.33688227335612,
+    "plain_rgb_mae": 11.068907737731934
+  },
+  {
+    "episode_index": 91,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.5846165815989175,
+    "bgr_mae": 27.28261947631836,
+    "plain_rgb_mae": 11.144975344340006
+  },
+  {
+    "episode_index": 92,
+    "key": "observation.images.head",
+    "rgb_mae": 2.571580092112223,
+    "bgr_mae": 14.586326281229654,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 92,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.09381095568339,
+    "bgr_mae": 15.452692985534668,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 92,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.564513921737671,
+    "bgr_mae": 27.342421849568684,
+    "plain_rgb_mae": 10.9879150390625
+  },
+  {
+    "episode_index": 92,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.5424160957336426,
+    "bgr_mae": 27.22432581583659,
+    "plain_rgb_mae": 11.017563501993815
+  },
+  {
+    "episode_index": 93,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4935022989908853,
+    "bgr_mae": 14.323910395304361,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 93,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.9271313349405923,
+    "bgr_mae": 16.08563995361328,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 93,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.6830005645751953,
+    "bgr_mae": 27.150176366170246,
+    "plain_rgb_mae": 10.977874755859375
+  },
+  {
+    "episode_index": 93,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.659936269124349,
+    "bgr_mae": 27.236897786458332,
+    "plain_rgb_mae": 11.057025273640951
+  },
+  {
+    "episode_index": 94,
+    "key": "observation.images.head",
+    "rgb_mae": 2.3761608600616455,
+    "bgr_mae": 14.869826952616373,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 94,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7921930154164634,
+    "bgr_mae": 16.19760290781657,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 94,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.3620847860972085,
+    "bgr_mae": 26.736682891845703,
+    "plain_rgb_mae": 10.98980744679769
+  },
+  {
+    "episode_index": 94,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.344797452290853,
+    "bgr_mae": 27.208324432373047,
+    "plain_rgb_mae": 11.093546231587728
+  },
+  {
+    "episode_index": 95,
+    "key": "observation.images.head",
+    "rgb_mae": 2.505421002705892,
+    "bgr_mae": 15.536914825439453,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 95,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.9993526935577393,
+    "bgr_mae": 15.4646577835083,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 95,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.6945225397745767,
+    "bgr_mae": 27.235286076863606,
+    "plain_rgb_mae": 11.021008491516113
+  },
+  {
+    "episode_index": 95,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.6223958333333335,
+    "bgr_mae": 27.23626963297526,
+    "plain_rgb_mae": 11.083976745605469
+  },
+  {
+    "episode_index": 96,
+    "key": "observation.images.head",
+    "rgb_mae": 2.443708896636963,
+    "bgr_mae": 15.19092591603597,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 96,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.8092378775278726,
+    "bgr_mae": 15.199023246765137,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 96,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.3611791133880615,
+    "bgr_mae": 27.275527954101562,
+    "plain_rgb_mae": 11.018295605977377
+  },
+  {
+    "episode_index": 96,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.361961762110392,
+    "bgr_mae": 27.596993764241535,
+    "plain_rgb_mae": 11.013424555460611
+  },
+  {
+    "episode_index": 97,
+    "key": "observation.images.head",
+    "rgb_mae": 2.4707535902659097,
+    "bgr_mae": 14.528322219848633,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 97,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.984107494354248,
+    "bgr_mae": 15.083800633748373,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 97,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.736908276875814,
+    "bgr_mae": 27.058861414591473,
+    "plain_rgb_mae": 11.090930302937826
+  },
+  {
+    "episode_index": 97,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.6482884883880615,
+    "bgr_mae": 27.19382095336914,
+    "plain_rgb_mae": 11.08681869506836
+  },
+  {
+    "episode_index": 98,
+    "key": "observation.images.head",
+    "rgb_mae": 2.40195902188619,
+    "bgr_mae": 15.505993843078613,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 98,
+    "key": "observation.images.wrist",
+    "rgb_mae": 2.7570978800455728,
+    "bgr_mae": 16.313804308573406,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 98,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.3639121055603027,
+    "bgr_mae": 26.356999079386394,
+    "plain_rgb_mae": 11.050590515136719
+  },
+  {
+    "episode_index": 98,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.355315367380778,
+    "bgr_mae": 27.803307215372723,
+    "plain_rgb_mae": 11.01870091756185
+  },
+  {
+    "episode_index": 99,
+    "key": "observation.images.head",
+    "rgb_mae": 2.483992576599121,
+    "bgr_mae": 14.598380406697592,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 99,
+    "key": "observation.images.wrist",
+    "rgb_mae": 3.059007167816162,
+    "bgr_mae": 15.333726247151693,
+    "plain_rgb_mae": null
+  },
+  {
+    "episode_index": 99,
+    "key": "observation.images.tactile_left",
+    "rgb_mae": 2.6676200230916343,
+    "bgr_mae": 27.286479949951172,
+    "plain_rgb_mae": 10.971720377604166
+  },
+  {
+    "episode_index": 99,
+    "key": "observation.images.tactile_right",
+    "rgb_mae": 2.667431910832723,
+    "bgr_mae": 27.630878448486328,
+    "plain_rgb_mae": 11.037915229797363
+  }
+]
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000000.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de182c6e801437fdfae3f14628185bdcef8211f8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4164199157dcf44c2866be3a692eccccd8b2e419b17c4a5d8d10249e397a730
+size 2389239
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000001.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..353484e6af20294933dd858eeb2179821412b6a0
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65c2f624b8031750e30cd9e6472c3d42a775d4f9638beb12cb9781a5edf69809
+size 2370032
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000002.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..62539922c7bbbcc3ec826b7266cd517c5c347fed
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57971451b233b356e47d31e01f4032f0c3f8a2b3ec0de27bf5a8d30c7cc12a39
+size 2327397
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000003.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0b7f7e18199b3092a28a9965559244b5545be17
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:172342fb083f5795670d4f82d569e2ff743b369e43772e2da28ddb6a938dc120
+size 2111880
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000004.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4be531d41659e6dddcbea28d87200a70133e901
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee6f221ebf15a440f6bb7f1364fb1d7b6fd993bcb7b831f232409d076517fc39
+size 2423213
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000005.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46354584337c88aad0a9e74fae9ac6bbb7976af9
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29480e0a12c916b74397ca59475dec780f6ea3e1e29b4ca1a1f8c275d21e5fc9
+size 2374773
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000006.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ab613330e5ad1c10ddafdbb721ac417a7c38d94
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dd0104f07b8cc802a78d315703c914685be44bf8b5c418d2f5a0586f6105975
+size 2438778
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000007.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68cd23dab5fc55f07f27934fde105619a233d288
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5e6b278c2046a791e8f6f6efa71b530581ddf3abdc699e1918932cbcaa01b2f
+size 2210688
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000008.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3abed725c6c37a7a6c391d052c08c80aea736ad8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92cb10ac04160fafeaf675dc9ded42aef05688c4765a8068cafccb277b497675
+size 2307034
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000009.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a4326d884c7f6cd1dfd5555dab19e5cc27bc787
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cad854f3e4398afb3d7bf7ec4c2beb6ebab53e09b9ec6be2aa6629b51e269429
+size 2343813
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000010.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..48476333f5f2776374414c629c5b12dcc9aa1914
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1068f078997116135f404cbb6ac8251b9e376f6b928efa3d6945e2dd11eff243
+size 2383467
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000011.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f526d4a5ffc2fb8cd4339882849606577138e31
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c2edf6115dbc7d47e8f8b133b650214222134f4d55479c52376d64d91240ff0
+size 2519078
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000012.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7554545122e5c3c7cd7c2d6b836247d55971aca
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0e16ad4ea8aa81363c02fdff68846ff997321f5a67a49de6e2f042a843bfbcd
+size 2351527
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000013.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..edf5d728a3d85329231aebf18965ef2bece723d7
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dccc4e14002d355ba027f6d00d2b6a8031413afa05df414511bd7561a70bcbd1
+size 2445076
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000014.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cbfdd7b167db3f5b46ea30f370f3b44d76ff6426
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f4f657482c3718a573796dd25d77035f8b05e7f911f134a0d4f8d710a4c000f
+size 2511161
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000015.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e53791a1294bee188888058bc354c71f3e8459fe
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47eee4bc090c58d0498279d0867a99ed1c10c70a50266cfb9faab2239c6b4493
+size 2216920
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000016.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3b02dc861e030487583cf95148e7dd6e544d47f3
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8355e9a51d89959cc7050ddc025c715f40c400bc70f7617f9662389ab7a739fb
+size 2494589
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000017.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..159f3ae1cb79ec5aaf692b250e01ad504d8ba27e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7594b8a09761fa3c00d53a8fe7453b0f1da716038a282448c9b71d26ecb618ae
+size 2399491
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000018.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b955396cf0e825a5fafa4182e923bc66e7d21c39
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:557b0951377d378d00c629f2acdb590e9d2a0b712e6044056d6f0b769020cba7
+size 2609219
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000019.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..006a19ea0283e2a43f1824f0fae8065029d053ef
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:475ac4b1173337f1d23b619456dd521143c70a98cfe896084da46fd8ad9c8977
+size 2409678
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000020.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..468cb2a50d5e5f4f63d29e73b898dc81e597b05a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ae37bf5fd206b3d8578f58622aa09706ecfded38f6cf628139a7a9aa174a220
+size 2511721
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000021.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0cb72be7db38626d482340cc0b7b37817d4bddd8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:544690b21e998935cc7df1b9c21f6b9b963109341a787d950ffbef18429cb15c
+size 2222641
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000022.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae382b64b1fc3bc9bdc9209c90f7d25a4762c9bc
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a321555f0964d42487911a34ddaca485c626c2fa959c7dbccee25e7a0986b73b
+size 2339047
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000023.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fce7db732f189bcdce0f77979279edf0f98206b9
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e520fc94045ff3a31cc2231ebb3c0e5d6999172c0ee46cfb0e27e0fe64dc81ee
+size 2229699
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000024.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..18d85c7975da9e36a30e35e2c7ed329964f9e720
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19a7858f9ca6e1f62a7d8cda5a72bd77dc70e8480fa4aa9e04d1a32c04b6b5bd
+size 2427561
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000025.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a8a5e5439c805709dc187eafe73f3e1b5eaa5373
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ddc1b29c21025ad29d4059c4aa3e2d85a8488c0e63cbbfef2c83eda8b0e2807
+size 2195529
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000026.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3bd9a2dbbde872a9a064d240f195c4d2a1a6cc9e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81bc75ffb4c97a16bf69549be0a92e6103faa8841b33e6549aad36c6206b9275
+size 2194396
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000027.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ceb34d4b60ea0b722da762f21f66ff036c86b0ce
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b5e3de5db319549bb6b72309dbb925c1399539f198dd7ad9596d194ec626e9d
+size 2265045
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000028.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97d74ccfa0ac363abce6495fe3c475d643956d45
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff8134e2e0a69e7853ada5153e8aa1b923abd97ef4e796dd2e16b47118f64790
+size 2667295
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000029.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49341ef3c4d9b6707a2a113d8b85ab8cb92faed5
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9384d952ded8fed1e20cb654dc53f920226473ff169e99c3f2746e9c678369d
+size 2213093
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000030.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0a6bc37d80f01597fe405b6659acdf612acfe3d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e53076ccf787881b202dd2ebfb321860a6762b11563ef7da025d7fd8448fd04
+size 2250321
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000031.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d749de15020a4d1cc8c8c4e8b63151328d240ce3
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ea35a555b2711ec917f1cef8b485f274234439faf395dcb80033042d8fb3d6c
+size 2140512
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000032.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de895592fb9686dcb5f91aea000022cbf3597065
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9588b5206dee494c78062b65c239667df47ae6224108d3caca606e71f0d3ca37
+size 2242059
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000033.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9faafa851aebdd71c205ded5afc34c850147d0aa
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99b6c84e9befdd3515fb984c6f096ee46adb74b42b3dc568ddcf23b1be3af0dc
+size 2411483
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000034.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e74d07815f6291cfed9e634f7f178f8185a183b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b676f20f9ee9c52d6a872ee2332dea48c1a14fc4e592b2bc72f53e1e2393040
+size 2460116
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000035.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..79e18e6775b75f142e29941a5ebc794bca87e7d0
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:931c030a3576bd53daf68919ae4616eb6384025f019e40330f000d929717eab3
+size 2477645
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000036.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ce5be3d7bf0f64a051eb5e04836d6a8d0264c57
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98c64d7b3e7ea40bfa00ad08851dbf61be5b9e0e0d389ee7ce2881ebee6bd65f
+size 2462172
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000037.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..184367be2efad9e9bd7cbbd366e299083cdc5a5c
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c023508e9190cf1fb85aaab91875ee858c08d8026e7bd8cca2f4461e5b3d822
+size 2599940
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000038.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e511201814732007fc0395bbb48d064163935e3
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07c4d048739490f01d8a7d9d65d7047545d90e75902347dd6237bee19da20637
+size 2390539
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000039.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5683ed222e04ff729eba34b2cbd698c85c4ca68
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba3c396133f8c911b982cd919f1b4ece33754cc92e75e6387cc2d021d7feaaca
+size 2254480
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000040.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb3429076211c481534a24dfbe45f03f616e0325
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000040.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81fc1a42613306154729c5f3dd09ac1235438513ba2f4cba5b90b1f78462ebd1
+size 2233183
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000041.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000041.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10214044a4261f4d8a8101a7461ae9f5407b3ea5
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000041.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:effb2f1cbc301ab384e2035f22e031a1c1e86a1839615df63f2a642747d0c4bc
+size 2592279
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000042.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000042.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2df6c7bd2f554160c829ece07557e0b28f3f1ae8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000042.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08127b17a70110d2c5630de443c1db1e2d0cf850dd46b625c7886c70e8c22895
+size 2440907
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000043.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000043.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..52e955fde7dd6121dde2314c30aadb2c73626125
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000043.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3047716c9b2a9d2d379122a9a72584c07825755ef1efa2cf23ec524c33a11dac
+size 2713602
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000044.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000044.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..658c0dd1b4324eef33665c8e88b2e0b9134d6517
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000044.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29af169fe0487478c82fce3e1a2bc35f177da304a3f818127d185342fd224fc4
+size 2402017
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000045.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c56ce1664bf981ec8a1737e02fd9f98a5d7ab06
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000045.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11296b2572a03fd63f7ddec5161f355373e531edf4063775a3e09d52a465eb14
+size 2169313
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000046.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000046.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e797e7609d7a29dc12f90e14d24ee5616e1a083e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000046.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a80e5eb678776a2bf899fea87974043a4644a766106560f019e829be2f903c53
+size 2100514
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000047.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000047.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ca7350069a8119c1dbfc8c7d6d7ad7c551db51e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000047.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b54246a5adefcc2e7e114810ffc3a8d9163a952525486724bb7e87f30ebea6e1
+size 2347174
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000048.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f0b905060aa79a67be2011ec3c0bad9ffd96e9e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000048.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18cb261a981fe32fb47f7b8cff17a7372f97193b818a4a53889fdc0a6d4c3b53
+size 2367301
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000049.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000049.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5dae8dd4f524d80b56bd9cb636532823e71d4f56
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000049.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:570b95d2dc01ae290b119d5b15bff2532f2a0b7d86a572209cdec546a1e8384e
+size 2432061
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000050.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a52a68b61d20d6cb0ce680ef440a8fd38af9a9e7
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000050.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41bebb7f1dd8488a3372c522d2b5cf8c61ba413a102fb81b8151f9dcb517256d
+size 2205863
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000051.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc15a6d2eba88eb3f170fee5b277b27e6c09c6e2
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000051.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91efb62f45115a7c0cccde3d6b88edf82a4e4c3cbef1987dc1ded5fe6592cc63
+size 2479141
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000052.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4ac13a9e315da21df90708aa69d764679e7703a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000052.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a8d29c2b47c01600f2a7ba22cdeb3fab5e1063c8a0133a9deefb9043f126b1a
+size 2227577
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000053.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000053.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..904596291ed01215383de785106f79458712f575
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000053.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cd4d3b9ff54edcdfe8065c827f1ac490334398db9abeb603bbb163cd725c3e6
+size 2423024
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000054.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000054.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..130f363baac820a216e27fb0b82a026cc45e623a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000054.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:480da91a3b5050e371424b2be227469eb7caf379196183553ba8f87ef96b3821
+size 2341649
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000055.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000055.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d00ce56ae04eabd2d2cdb671c3279cba5aad8196
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000055.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb24f29e2980d56e12de9e82127bba6787817a5736bfb01fac942064c8db1d3c
+size 2352443
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000056.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000056.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a4197bc482e0a10f498bf8f80a8151c64bb5159
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000056.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c598019eb2b38bd2a2f4a7eb7dcae69fd4eb8ea2a92edca7f4ee5f3d2424e37f
+size 2430950
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000057.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000057.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..78b7f5bf5a1d257da70c8294ea068b2fa0960c14
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000057.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2479f1d20390bf3f1acdbe00c94cdfcb6ed0be342a3601f1fd98bbd53d2d6d9
+size 2558712
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000058.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000058.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..167781feb2e7a534118d783eaff72e872bb4abf7
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000058.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76e7aaea37f156791bb068ab32596adfdbce1d32096a300826e886a30fb87afb
+size 2451130
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000059.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000059.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8c831225b934c181c7b1e2ac0b0726a56727831
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000059.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eeba20f95165934962107278dc4bf72d8d4fa5becbdbf8554535132adef7f2d
+size 2258105
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000060.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000060.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7d68d74e6981ef4f4dd07244d14d560dfc9c48e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000060.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a0a67ee6f4c93857ec3817fa7f865e79eb88f6b0c98e90bae52e643b5c1bef1
+size 2308084
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000061.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000061.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4abfb3054a66de0ddd9ff422ac5419824b85ed67
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000061.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:406df3f339ba40ec1de7235ace922ab6b55977dd9443643184a207a3fbfd2d07
+size 2306923
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000062.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000062.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e10df821940a772e26a37632b0ff11df7e05ad0
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000062.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d126d6be416ea0b8e30881132d3e83a2eabd41acf09a83e16519578ed73ad1b
+size 2181884
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000063.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000063.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c437f66adcc7a2577027edf4359abe8e990503c
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000063.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50a0c8df1649d8aaf9fbb710eecb9aacfac5596c22f89bdfd85e8d84b5b280d3
+size 2198412
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000064.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000064.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..64ce9b4de8284b841bdd13932a5c4b47f9e18f56
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000064.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:057e126114be5e6b7dde60f1a924d3922190f17acbe649370bdf88812eeb3d06
+size 2137257
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000065.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000065.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22278d9fbfc282cd8a35f37769f765e5f7756070
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000065.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:033afb91e0356a459692cc90e96423b5134effd95a87af54b02dc247425763d7
+size 2119938
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000066.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000066.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4bb52a42f9474fbb2fa573285e7162a6a07f5724
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000066.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad1a6ad72d1873ae04a9f38bd2b877f763f838af58f97ca2b39a81b4da0a30b1
+size 2428124
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000067.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000067.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4c905cffda0f2b6c4f76ef73703b0a01eb71be53
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000067.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73ad121a2a7b3192424d3dd7a0fd01887b44ba50ee65a863e3cbba3e72f9c067
+size 2533620
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000068.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000068.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aebead48d4cf926defd32484673380492234183b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000068.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2509c1bd76ffd535c615e3dc4310e2a4716d598ebf5a76e61e9e69631046704c
+size 2109994
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000069.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000069.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49abdf78bfcb7c06f0948ce39783e6362d9f68db
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000069.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc3cf8583e65b7a890c60b752bc08bca3a867421669cb9f34487f600dd92e5ee
+size 2267792
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000070.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000070.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff573eef1b205321b60db59c4bf1a562ae0bbc72
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000070.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a02cf74c194578a7708d01eb158ea3fe3afface46cb2eff38ca35d93ad4a06f
+size 2518526
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000071.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000071.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04247c6069b1e0d29e2d570c6ba1cba0c0eea35e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000071.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e9f0130cec65f9de3455408932f101bbbb47c54d6d4262804ee05c9181ab94c
+size 2702741
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000072.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000072.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2068995e9a9192a7fd2868abe54282ff799d445e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000072.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6df0b8b40ce39ab721d00584737a3ad13098372b26292a9948a353ec6bd7ba3e
+size 2149703
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000073.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000073.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d69d442d680fab644b2b8d77f851595dcc445e0
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000073.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d19828c9454986d8db2c1ae1a061346db62c72b1da6c6150a3214147eafc773
+size 2163263
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000074.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000074.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99b1bdfbfc7b57f0af921888b0bb840677243ad2
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000074.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3a162b0d413df8d52ac56c50a5e29a0a3d4f7bf321092cf2b54e81319febb68
+size 2738576
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000075.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000075.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..939efb5c68291e99ef65377b5465c6b512399106
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000075.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a72a0e74c1642961bbb48f67d7d17d7b0e5b99ef7723c5819e3871e335fb98b3
+size 2443493
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000076.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000076.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dcea9f1e1d05032a20431f0478d311d7bea18119
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000076.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9598667fd882a3020bc38f7bf0cdf177b9140874f996e49aa6c48e5e430d2b70
+size 2282523
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000077.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000077.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2de9f243f1f148dcdce7620a0b4cb21d3d7808f8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000077.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cb30efdabfdccfae461e9b8fd100499272ad0ab0c078e716ff8b57fa69b256d
+size 2555219
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000078.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000078.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d563685a45fb657b8b3130d2c6435574ceb7e52
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000078.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1865534cc2e094eaeb90cb1951ec2a77b2a4415e736c456326c79211bb425591
+size 2411350
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000079.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000079.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b32914fdcf2d3911ece9342a800fafd19c43219e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000079.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ba51cc0ff65241b2c662f3bde78987024555bba283d52d5ffdf9ca1c9fd2375
+size 2773609
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000080.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000080.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e190f98cc1ac86653c4f1fdeee725909d135d8f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000080.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9d67611069448e20839e46bd62f8fde37da99fd9e3b88471ee466f3832257e8
+size 2183166
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000081.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000081.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5ed4df6b7532881dbf347da1ca53c6c952f53829
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000081.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ebb625ef00b8b30bb236fac222c5da57b178e6a112bc0ec958cfb4806d3f2f2
+size 2423138
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000082.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000082.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1513a19d6eec14f8ffc30c1ca3c505a43c564221
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000082.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d53317345659ed3de448a88e7d552962a4c90d2ecd245ff821a6a1313465dd93
+size 2335913
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000083.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000083.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b0a622490ba14495e1c0886c0c9278059c7cd72a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000083.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b52460cf2d6752c8b5b22c963736e6293f3d17aa0f6c12c710a21555208810d
+size 2519798
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000084.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000084.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2aaef2586e74dd93d2e98099988c52e35b78ba5
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000084.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6662566afe599b136bb35f51fc9cdc1aecf679fe4bafee1b1c88feff7860d5d4
+size 2552338
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000085.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000085.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8bf2dcae625334f5dba289f262a7029822b214bf
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000085.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b4f1b7e8ff747b1310c28270f1e109d2b9424fd98d4064e4bbb0c7d7694cb9b
+size 2577006
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000086.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000086.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a9a596f98b504b8b488249b2cd99c2e35de3d3d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000086.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c92c0e1380cd53ce9e50f81fef5a4c5fde49c117097d5aec1677016c809b643a
+size 2474921
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000087.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000087.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..70a1f71686b075dbfb6534af3c0e412840617194
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000087.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cafee34f7781c7392cd787f320822dedc0af200788f95cf5f247444689de597
+size 2455480
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000088.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000088.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..029f7d8f8c33c775782344653b157d92219e9ae9
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000088.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a5c05b7671eed3d8a34389986e54d7111aa00ac1e3f4aa6823a8144808858d2
+size 2481115
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000089.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000089.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..16d8ecbaf120ff11a786ffc8f579703f1a59bdd9
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000089.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2089fe60bb172a699b7852c2dc055ea07f706d6e4d54cf4bba41080261e268b1
+size 2261917
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000090.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000090.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..921fd2b9a51372adf7dca4b2291aec9425d50e2d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000090.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8fb0ced84203ae42a979f6cba2674d604e5330f4e722a697b33a6de4943a86f
+size 2271022
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000091.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000091.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46186b944958647cfb0b18a6df115339a9a43dc5
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000091.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d470e869404f6709f1c76dfae8838aee105e1d5aa6e8fe68097285e888ccc85
+size 2297880
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000092.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000092.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f144c5ab925d76431e86d36cf98d3d06bddf442
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000092.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03ef22f27408f112348f29ccfec5809a77ad4b45bc41d10846584b6a2b2ec7ac
+size 2352423
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000093.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000093.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b97a50b80a7fcaaa076506880486dbd169a1ada
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000093.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5727c2893437a78985155a53b8c9c02aef0f0d08425b3d1aef4b0133eaa14636
+size 2556346
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000094.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000094.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..511f8272202e07d66aedec1084b717104594d300
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000094.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75b1627acae98da0c30a3b1b574f397247dc5e7682490177a43459c486b9fee1
+size 2345503
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000095.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000095.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..79eb6fb3f92920d3e28bfb31a531f6d59427d76e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000095.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aef4ae7441198cf21868cfc81205c6868b5c6d486e3fe883583b58e4f5d78262
+size 2424403
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000096.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000096.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b49770989a46e7b3b9cf6c0f534d2e0ede1c2f48
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000096.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2eae2148137336310005e660cd40439a003868ed3cdadfdb6ae6a3a8d6ba316
+size 2647163
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000097.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000097.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e6d5b63b948e31134909ac783303f494926916a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000097.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc3c3d9f2a1bff5ff426377b993e64dc5a179b4704ab498f9c92b3156a9d7f3b
+size 2635087
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000098.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000098.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee674a9c3f5af98ea4e57205d1638be23e5e5496
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000098.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c055bd29a6ea5933a81b69182b5a038e5dbbcea9c80d35d393333692663c170
+size 2078682
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000099.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000099.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e170721afb20b2d47f7f56e781e553e4b49f15a2
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.head/episode_000099.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71c89c3c0c94e9f9875ddf5fb5dd941443f2019f811ae29e9e890d6664e7fd54
+size 2347294
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000000.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0ad32ba86190f4cad19221897f08fbc18392e59
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af0eed2687a5525ee6e48baa77cd690ccde192b48371ff3339494f90892e30a9
+size 1125576
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000001.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1698db990d01265029a95cd66959b9ecb1acf827
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7542e8f4cb02386b5725f1a4614cbeb55aefcdb92136c8df946f25800cbeb24
+size 1068308
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000002.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0237b801399d3ff4b26c4485e48bcc2ebf435cd3
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2b4a7396dbfdc540f31e14bed8bbb558a781d7fa313943e4dac5eb15e3564fc
+size 1059406
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000003.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..515c933e9f8c70b77114fcd0dea1003ae5b2a2be
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:581a1ffc9c0250c001e273f7e4e045bd9b7f16bf379953f98ed10e4a0ea96e30
+size 983083
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000004.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c30def53a4d24b52dcc0f80e07170c62a3540b54
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:beb805239a8f82c277b34633bceb2e9e9569c56749ae281a241a435af98f9703
+size 1106765
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000005.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5994a426d302ed530a2e1ae99e5b517687d5a5d5
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1cb37b6ab294e32eca1004e01d013158755d574bfec042c072a85c8d322b9a1
+size 1105429
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000006.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93d820fb0668084bbf288e5781af6e4ae1574622
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d1b41dd24b2edacc358e227fc594fa885c0b8a1c0dc16b0dcb58f8354ccff99
+size 1124964
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000007.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e0b0e71c83854723a523c999d2f9df753de304f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bad6246acebd94d4cc910e1e34ed818a3daab17b1f798a1c7f670a167bc9d005
+size 1021008
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000008.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b3ca7fddea92db4074253119daecfa10b5db2fe
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:296c504b26dd7827d49d75f7ea085324f3fcf4752a35505772d118dac24323bc
+size 1036919
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000009.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..225fad9d8cd6eb430be7226f59eac1adb6017a47
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:519a59ab72ebf0a035fa5c4d0a559babb20b420da3644851a6e269642934cbf3
+size 1086245
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000010.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63097978e1c2717488637f90a8633067aff97806
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d451ca8c2977b2bca3197bc77b960eba0f6c0cea675dbef6ec9baf48b41c5f62
+size 1124733
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000011.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7fbc12e67e3985e78b2f16f1ad92f889684bf268
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:241a116ffeaca13053b034b527dbe13095b9142dc25acaa24e8019bb7804a36b
+size 1180097
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000012.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..795985ec546b1f6b0fc1577da7e882b5be04c594
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47188cf0ff1d7f075074dc44377889e00073f3104202f258346607ffab4708d8
+size 1094474
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000013.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..201b373ec8a5e2b1645fa7460ed7fd6c6e3bbdf6
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c3370893368fdc6b6984ccea1159bccf14432581eaf4993a26a647cf352c6a0
+size 1125216
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000014.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..83a0029278c5ae9aa7e3b1a1e6f2dc5c270f4c35
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dd8260e644302b0475e9ac7b4a4b728ea0463905cc963d15818a7468b3dbdfa
+size 1185948
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000015.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c461af13028f69c59746274d3e9c21b4b3703f97
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8a5ff59e3832a683835d570487efb26d6943fe839819f337a2115f4359a46ad
+size 1012068
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000016.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d684c26d8f9d51c10812e9c639239c764d53d3d8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ea9d1e4d4b8b92cf4e6f45575c0826fb89c830fed5756375c07638fc1fd01c9
+size 1148907
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000017.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26fc1b8e17ca9709bb722a7ba6680847427ebf41
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e633cd7c7e2eece4fae8a1351f52d482613dca9d6f8accee36cc9016aa09afd2
+size 1099564
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000018.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c836745b04b027ab6aacc1845a728e47629fea06
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de3c5d7faf747936fec6c9ab2dd7dd961c12a3831882499a09bcb4aa604e9362
+size 1190450
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000019.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b396dc407d0efc23f59b6a8b9ac59d01216dccf4
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2edb90c63a5a7bed8fb6b301c782d4087e1cf83d47bd1587d98a7d9f210ffeb
+size 1148107
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000020.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5826376fb1db1d86db7a96dfc5f39744fd38c000
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e59f8584de214203957d5c006eafff4d40e601ab49102f1aadbe2de558703c2
+size 1126612
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000021.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7df545802703e13b6e1a38b0181c2f667685bfc
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de65abb05010fe0e681e435d68f5d472007d6193d211df5e77b4c005acf908fb
+size 1028780
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000022.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..595907ccec97b35b73ffd237e8883bebd6fcb872
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b249644b2da61b9e675d83fb7e81c110c6c83d481d8d9a6a3feb235bf80621cb
+size 1098423
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000023.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e047998af0eaf1ade4051a62371839bef1090ad8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e5df4f02e731b4b032d4d9ec57255fe4407e731f9239961a14737d94641bffe
+size 1061649
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000024.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd025d514028fa715925cc10a177d93aebc9f08a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0a35ef0bdaa888ebea957721999423c9b2ff74ec01234a0990fd4219211120c
+size 1124531
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000025.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..178ea0e8477e7edeaa5fb1bb9ca9a6c96c386a18
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:572caac570c3f8a370a0c4607d54d382ec499851a7f9a74e4fbfa9fb43b3e0ff
+size 1027987
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000026.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..214a9261d3ff1a6cfb2edae1d34adb81e752138f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7547018bc7adaa0d5e1997e4423a719c6b676466b0a2c046424bc449d6c97e1
+size 1017057
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000027.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..222e80e90ae056dd8094df23488bdd223900465c
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ce1c4ee4bbd6575d9ecb3e9135bfc2d78625f81da5b1b6fb5b78e3d98cb6ef6
+size 1048468
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000028.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9274f1e34bacdf6ee0a771980b87b82047b464b1
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7120a95d76fb664681b6ba294346cc52eef8fcbb88936b634f6b25ef5c83ff10
+size 1280678
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000029.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..724e7a3d3bc1ca0e9a39bba5fcde91c702e7b0d8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17b3f85bde84eec32112ac21f4a921b686c46155e631420cb9c491d5c0c94c69
+size 1013985
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000030.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1bbba212633db12bae85d4bd8f4b5290e56c851b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d581406b622df6a6b434b5a12a94e662337c1eb0fb1064aa04b4858be396a03
+size 1032677
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000031.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..950e72ee5967b11f4f9c139bd6d9f36addc2338a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baf68e2acc1945080422524cff21f8785326f1d047fce6e1fe87ab2eeb564e22
+size 981145
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000032.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9455ddc44f4a0987a23f7b5f1828f77fae3a57e3
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7addb8e0bcf5df800317f1c0013c71d2d6c99bf7d09a879f5f814ca4e9e6d43c
+size 1042682
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000033.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73042dab21cf3bd3cea8d376a811e9e2767e61cd
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecfd3b0d7b6609d095e99809c983bc88f6cdf6d5c2e690a9e554deaea30a900c
+size 1112370
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000034.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3161f8460d9ed97e6ee17f739eac076e8f8ca518
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:823278aad517f3da2fe68b2618bf7b2d54660c1775d6f03a12348b185e40f0eb
+size 1138828
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000035.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a2953818ad939d979ac8bec6503c1a065b802cb
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa608dc8f6ff54ba77e208a12d8e60d8eda38b4c9c2895b7fc1dd5872a619cc2
+size 1148542
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000036.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30292b407e45dfdb5e48e14fb1287fd0c95c0139
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b02040fb6f7280163ecb0b770a93fd5871c94ad1b1f75205217f1c7623d86bc
+size 1166984
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000037.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9aaebddd25371f593c2ffecd71d4afae984b4272
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7c1427f737b1ea31198b9b63a0a9b257fe14ac97df92c9c3212f1e4be2cae3a
+size 1208346
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000038.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b8b962f8b7605684bbbafa4ed6e860afab364a3
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:989d6efd5ab5770f8d946de620a78b5550803d12c10b5b33884ec318e72b09f6
+size 1100503
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000039.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91922863ee28dbda14a207a2868e1d483b857694
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be9b02433d7b39bc510fc05271fd3ce468bb423baa6ab76ab211b8c01a7218fa
+size 1051786
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000040.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f8337af6c7a42fa5b71a8aadaf195fc225b8a43
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000040.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a52c2f8b3c556c09519fe15dae93b8ff80298257e021d06eda76383781cd3b86
+size 1046561
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000041.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000041.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9be23875ce17f44c48822fbd25ef362cc9040f76
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000041.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2413f293e284ae9608433a87703b634479e75668f6792235deb1593e2029d28
+size 1178670
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000042.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000042.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13aea68914a647e14c80136e81a5a0fe5fbdabb3
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000042.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17f45bbb9bd82227210477b9a330498550a86f8369d2d687a7d1415ff318bd18
+size 1110531
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000043.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000043.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afbdd156f963fd5eff3ebc59ff311020203f258e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000043.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c603fac44c6329900f0bf43768ba0db0ac721743d7423d0ac1fc27f7230ddb7
+size 1249808
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000044.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000044.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a47906abaa37760fe0362780a84f6e07458c10b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000044.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa21ae40e6937c6bcf49a6a58f60428a28a7f34d60541f13eb9e0e34910f223b
+size 1092124
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000045.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fadaa1711cedeed363f31080b86d888abc9fe42b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000045.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2e99e6e511890802c7b196fb3ba446299a46d85ecafef00ee854b8293ff245a
+size 1004329
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000046.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000046.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..45645ec37eee81c12636791f58a446c2fe6cfa31
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000046.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a139f928f0619f534567a8eb5d36871c2a114c9bb4e49101bd5b531953f29862
+size 964008
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000047.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000047.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..14a428fa29a262b1dd4f78f229f374c15e4c8db1
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000047.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59ae5e429c3df0b2353b3349d4625af947a2ad72a73e866ce601af8294298f58
+size 1107109
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000048.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c2152af05ff89474eae930436f849c44e4de682b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000048.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:733f975e9df364c7edc33d7517e1aa879052717d7c36ae4ca02cb3e4be58ee2b
+size 1105272
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000049.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000049.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c86a43a3db4ca4f65cb014c3c4d2c1ce02a0d99
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000049.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6843efc5ee95ca8b66c4bf0617d40a52f18c49e39d09af2d8eb4668c871c4c8
+size 1119866
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000050.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9ca82717aefcc7e2f1fc24e16d04f968bed9264
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000050.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7db33d0f2d0c19ab590f33d2a2dc8a68eebf6a9ee607b8c974345d174a87fa38
+size 1016694
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000051.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a0fd2b245bda057164d04aea79638b4871161d8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000051.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38f1e00440266b26f99e471c4cd4cc766f53888e799578ae9e5c5067584b2dc0
+size 1158237
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000052.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd765410c2e7270a85a88a252d9027544def00e7
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000052.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c5b8e92981d0fe5e3ccbd5424cc1db1cac5103dbaa8d20602582700476690b8
+size 1046625
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000053.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000053.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f4e751bf1951ceedf8cb2b89222d2b522e7e2b1a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000053.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:513106c59733601102db0a45e6d35135be9f2368118d752d104f2d1615123d12
+size 1125311
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000054.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000054.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..174413fb9fc35c51d7b19dfff545e8eca9e7caef
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000054.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce688cdba18cdaeff38b5db95415f906a6967cab4164ed00b8571e7a1ff2f3c2
+size 1091743
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000055.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000055.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d7c18ec8a97b0bda3d59de0951e963ad24ec981
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000055.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c8c64f9e67bf7e41518e788c35dd1ab27976dde95f9e3238249ea0ad91ebb3e
+size 1094860
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000056.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000056.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9eb522b2ec580f8d5737e40e23bfbc759308d7b9
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000056.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:020bdd3c0a04157378d62dc03fa86149b2c50d6b1068c1220aba68e0f9d70174
+size 1113590
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000057.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000057.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7870ad5e9d0f72114d8a8d626d876235465ac510
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000057.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c993efb3eb2f2618e5dc7cf35f6b28f2e285e320119623295b98e9f697cda024
+size 1193934
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000058.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000058.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25d91109558c47c929f907a5303dbc9840c9dc8e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000058.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4349ee913252ec89c988d334318b895a799e858068bc42199602a8c76cdd616
+size 1086189
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000059.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000059.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2df2d449a57a7964edacf4c551bb995c68271209
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000059.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3d7f565e26015e029939a71a0f9b08328148ccd7d3ed21dfd43bb48df405d54
+size 1058812
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000060.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000060.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a2b0342e0423b26b4b649017f045c1a324836a6
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000060.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da256688c35b5c59ea0146c1885979f5c34332a7f41487d691678ddf4589bb9b
+size 1073860
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000061.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000061.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8169d326cedc16e64d9694fc7a7efa8aafa39bc1
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000061.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee2ae846ccd3770ce7c55426bed54602292baf161bc5c9c21d640d4e5c8b0d23
+size 1024446
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000062.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000062.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..acc776d4f887de1d270b191ea1d95b3d68be955a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000062.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f2eb09258d3c43ba810dfc0bf2a6babf6d1d57da7195aaa4717ced3c2961b41
+size 1000488
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000063.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000063.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6ff86092cc703f951384020f311df487c9e8f797
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000063.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85b38016a208621e712699e362a91a73206095be1f5ca6d5f7e1adaa40625157
+size 993705
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000064.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000064.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4483b2bbb7600c385c21e3f627a1e4857c83d2f7
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000064.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb04a467fe7bcac7cfd6ffbf1c0421ce1cc213930160f0f635e48280169e486e
+size 1015188
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000065.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000065.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..40658b0a4df9adcf191a118f05f3f4a7ad593254
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000065.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21d0a38812e2aefd36aa0d20e8eac739b9fe5fe13ff6ce60cc668052350f9e4f
+size 985366
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000066.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000066.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a6b31922e880e3446f0fe375debd656731cefbb
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000066.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b104384f6f4d7f57456f623a6890428c959166405346f049674df1dc198a2bc5
+size 1143642
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000067.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000067.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ccd4c931543db368e863cffa81a06005f8960530
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000067.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bf718e238461165d1f030f2a5c30cabf7f6110fd11afffe2100c91b831e98bb
+size 1198839
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000068.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000068.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..929a9bd8400a0691be8c0b4ec978a2abfa7bed27
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000068.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2789b559898af448321c0d24cc400b6f6b7b07943ec856c46725c9820fd795d
+size 976520
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000069.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000069.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f197c74c3ea9275094228cdd02ce5fea769c4c0
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000069.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feab07da12d4dc4e4490d140e77d0bc26fd5acd05613d1d82db2b767bcc558c5
+size 1021249
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000070.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000070.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e64b8c08821aeb7212825a1b01fdd23473173587
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000070.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72d2a26398c9e1cf06595c91749219868a6e75e6a5489977269017be3de3b6ce
+size 1173980
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000071.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000071.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..54f5caecfc90bf884f0fc5cf9769e4150de4bb44
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000071.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d54b0e65d3b4abc04388403a07c5b8435f50fe08f77f63fa99bff730f2ddfdb1
+size 1214322
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000072.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000072.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b43cd0a0603bee9f66d46b8bc90ad4702f67fbde
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000072.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd78438da6d20d9479ec9cabf70b45b0fb032ad3a516a2477522c30248a5973a
+size 982633
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000073.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000073.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..871dda8aa3740f10e04dd9f0caf766a67feb3c73
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000073.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e468626c86840ed997afba10de43813807f802c5cf350ac29dfcc327d66e169
+size 1013111
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000074.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000074.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7dee6c47f19e8243dbee89e789f9a4a67c6d6788
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000074.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c06058fc3f021d8d55a9b57f50aec45f43fb6c2d837b5128d1aef1e7daf3239
+size 1269944
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000075.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000075.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f8778b2f1b85bb98a96a2b49e38608b372270be
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000075.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ef2fb88ca04c4d1311129451419ab6b723c650446a7a55c202450add69aedd9
+size 1140618
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000076.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000076.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ba8c0ab32e9a75767a77185f9ed7b7d0b870cbe
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000076.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0dcf14793b69e744a3fbfb504ba5dce2b341ce16a10ee465282c52dd1acb035
+size 1048400
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000077.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000077.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5def480d0624c62ae7fb9bc0ea7bd2848e766e29
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000077.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45da2d9d6b2f5405ed0d2508afe5f2ac118b76673515fa2982573aad067cf5f6
+size 1178527
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000078.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000078.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3940e8c1d2ab7fe5c439ac20efd7812f4b189fc1
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000078.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21c25d5c01356ebfa6b1e8d4980aa71c52db37d2664579eca9a0373e3e74284b
+size 1125729
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000079.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000079.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a4fed8a68042cfe9fe6c76979eb9c1b38305409a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000079.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7c282578ecfde030493c524846b0c99656cd46ef1f6dd1883cb58912e45a917
+size 1286208
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000080.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000080.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8bb0b4373928fcb767dcd813d44385add7373cfd
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000080.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ac8cef3b34530d81169d3cbb7f7daf443bf7595fa281e5e4106fc4ba546326d
+size 1018064
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000081.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000081.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..200dc96cc1944517cf384d3dd0834bbfd8ac15db
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000081.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6ef03c0de7ecbf9ba093650c7ebeedc556ca8e2af6adfc9d3e3457741736689
+size 1135883
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000082.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000082.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e44a8e9b6925b2309695602ba104d633c6ff4d05
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000082.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c69542ce55eceaa50b20d47a71ca90dae66c2dd4dbbd8f1882ee261e69b56f6
+size 1097604
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000083.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000083.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9eafeb8a47536dd3f10f3c3aae8f77dd2101cb5b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000083.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ba301c47bb51c0aacf1b03db946d0a763fb11f8f477692f330fd22884eae2c1
+size 1173548
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000084.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000084.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..67934667422579166815e2bc82e5eb66313fe70b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000084.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69bad988dc80fc3ef3f07590e36c980d4c3f0a4198156029e7d27ed727ba9b2c
+size 1196171
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000085.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000085.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..07e2cf174d3a8d53751e7c9c5cd98c66447c9a42
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000085.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ad191435e679b6c246ecd6105b130547ca9dd06bf61d3fee3cdfbed45103b0d
+size 1198113
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000086.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000086.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..85355971f097feb4aae052093a5cad789d95f77f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000086.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38bfc34b23e9e435af9ec8091f6fceb1343499f498fbabc960a2cf30be0d4f0b
+size 1137137
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000087.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000087.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e73cd431db351b8ca8490ecc69bbe90cf3eabce0
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000087.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:457abb0567a14c9f24907b39091e41d8013bed4910d43827e6aa31722774c680
+size 1140458
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000088.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000088.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7802b642293901b192345dce5df358cc224118e7
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000088.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6745ede8a6092bf0574376584b158b7fb2f834128e721ce827fee9f69cef6717
+size 1109812
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000089.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000089.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..350b7cfc9c9ec74176241fd645fa99fb64e9be41
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000089.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5325f929b3f89a979291a8d749b6c709e54007729f011726be8d43072307ed2
+size 1034771
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000090.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000090.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ef69508b460c83ab959fe439a4f76311be1cdd46
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000090.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:603aa13c47a5999318bd3c016bf24211c9f26405c3cafc30146ee34b6c06faa1
+size 1056686
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000091.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000091.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f14457cee48fe89dd449b5091981d8641b51c8f9
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000091.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4226675fc86af3021b4090c6dc59276a5266a44435480692eb11921ca42ca80a
+size 1043460
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000092.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000092.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7bc9a94c8695a20d8f8f9eae91fe19bdf877ced
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000092.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcd30214a18fbf8fdab72482fc52ffd3e1e6119108155e96e84b018bab66581e
+size 1074777
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000093.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000093.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5625f42359cb1cbd793d0cee1569455011a5fd3
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000093.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1edb326a30c9948ced18d4eea8c82836eb65fb4212dcc786f69e9ec7c02ecca2
+size 1164284
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000094.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000094.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2f9bcde886d3d47736f517086619644e7966901
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000094.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8185051c9fa6b8f82be2d2557146b750436fef9553cc4446d19b7ea008f1c80e
+size 1089919
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000095.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000095.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b265da178df9a0129e3e661aac61dda29fe599cc
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000095.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d247f163cfc9429f5337f1784813da058594ac120fb7824b2c907017a4ce6092
+size 1117237
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000096.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000096.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36cc2a2c235efb4269a11c54d1655c618c548911
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000096.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a502123c3a5592d2727eccc87e8b13cd106e9927ea9166c901da625599a7909d
+size 1229929
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000097.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000097.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b1d85bf7382bc6a9b0500492ca3976665e220ca
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000097.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00a52ea281ec91a88c2756ad5055236fe5d19ea813783fe33bf53d526e69c8aa
+size 1221323
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000098.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000098.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b54f65c2fd0ec662af860ba218b4797a6ff68cde
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000098.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:605eca2e6d6e121c4b206b6fdbd0e46a8c6cd592c6d8ce0363d49d35fc89daa3
+size 969407
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000099.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000099.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b91089431062a42fd6d89db2f7aa08013ae47a3
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_left/episode_000099.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94a5f8e7f0d04d8cd61200e775c9c6c5d6c7407029c1ab59ec9b41b2b7426d73
+size 1106576
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000000.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd6733bccf0d85ffa4848e319afe1b7c1d42f166
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2241ebe4dc64ed55989add60e36842771a273080b58daaa4f05fac8bf9f44b95
+size 1143730
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000001.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50bf5c73b51f91b4937973ecaf50600066dec524
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd1c2a34ddb909af34f90102099b945067ed0b45564e99df32dea1ff763b3e5
+size 1084346
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000002.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f8024e178049401d521f933b3ce9e492d1961d7
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2ae18ac961422cd6a82c5469da0e1b42ad084d5da47aa15960f04fafd424c5f
+size 1066582
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000003.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f81f3189b530ac51bf2b2e90efda899a36be770a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5f4f93d51044f6c794edf8c7158fb49d75ede94db90ff9e9c7cc385a778f109
+size 999492
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000004.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c17ddd9349a5e6309876242c8545e5d1997d0e9f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccf4f0ca85a525a50e4aa9447b7040b3bb510aa1e8449e31de9d6e4b84188743
+size 1126411
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000005.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d9b8ab071bb15bcbf9c7f12d7e753d0f04fa87a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d99cc954f82c60159e1c415812c9f8faa54c0a53bd2ddbd93acce9d9951a5e24
+size 1117411
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000006.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32d93abfdc5ff57e764078b5a1a2fa07e166b397
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4615d0412f88f79cc8c242b960cbd25e2091adaeb83a2bc0a81251c49d6010f3
+size 1130447
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000007.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..78123dcfa0a0a5c2b20030add8cc8f2199ee0154
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f480ccc071f6e17c021da1f7c498a098963ec231e54d3a9a24cfed8041bcaa7
+size 1041794
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000008.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8996cb9e526ece992028ff7915a18c89932856c1
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1faf93eb7a0d07b4a4794137e42456644e075831a0fb66dcaaff06a18f366d89
+size 1051090
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000009.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..503431d3a6c5b7dc332078c016ad9c520f140dfc
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c5929129b3fde5f775cbd73731054cde80266258001acc68f3178586d86b888
+size 1090458
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000010.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..270720bb538a514574946bf92a24731d1b40bc03
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53c3b034ae4e7b071d36b29ff05cbe86ba9ef3c5ab8075bb75514017734ded49
+size 1142720
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000011.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8821cf17009f0295f96e36e757a874c9c19aa351
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:171b0373f7f26e84b20a21051674e58d50e11a439b61b5629f33e2eb9dc4469c
+size 1202849
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000012.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3369bde7b5df3c4f23f0ed70799be23de0ca0b19
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c60a8824bfac02dd60d7f08054e9a9a59919fa037c337682ef925447f81ec60
+size 1103237
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000013.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25c5a1ba0f99bd74a31eafa9389eea7d63961f4a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59c4878398193c7af416c57df50bd136a336ec53d7bd0d2aadf0e6dc0e14d3e7
+size 1125939
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000014.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f36c8fcc89b4c248fba50f0efd51c170d885f672
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:111b0c74a89942fff1df889d2500c705e835392fe565ac917cf52887effd4bd9
+size 1199445
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000015.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f423c065bf26975e62bd90720845e350cfd11517
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d37b575a27e60f06bb5ee1258a424322b7931cc446206f6188e35b1e0128689
+size 1027969
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000016.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..76506a562273dd94dc64e7cb425684c983b05936
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df497fbc3e5c3074e7ece1163337bdd13bc0b20d975f652e9be015d7253076cf
+size 1182487
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000017.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90cae7ebd61fa9413bb2312c04c9e824a914a57f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04a1e5453bc232afea4167520d08b14bc271139480181379fa07ba9567dbb5e2
+size 1117627
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000018.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31bcfdb8c7fde0a030188443e31e8650f55af71a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fed034b20e4d4461aabfd7955a9ae7f582ebd915f3a7d6902821d6f34dc49d19
+size 1210043
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000019.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2735154c13fc3a30a646d9ade97b646fe51cb6b6
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfbd759787673385cadee67a030f4d6bbaa9482d54d9e80ec85758d947a0fe6a
+size 1177220
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000020.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc36892cb2202be76fc6417f558fb880039e39d9
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bebb4eeb35a2aa43b318fbb196879961ace42aa268186918b8757ae93c04a7ba
+size 1129935
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000021.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eadc3fa33a37bc42f6ca23aa6ed9f01b6cfd0b5a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3bc47c36d879e2983fc931d908b8e9b1b10c578584db2b9a2bb08443b040939
+size 1045790
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000022.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51287dd091e3e82d8d387c4429c7c81497c3b7e5
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a22f7e4b4770336b81e86b639c8593e82ab5f9b6da6e81ad259d158a5de33686
+size 1110860
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000023.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec1efe969bb66bac270ef39d51f14c48ff40bfb1
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2594dfad8015764ea16cf00e2ca33ce85ea5443701d2deb722e20f423fa835c8
+size 1072797
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000024.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34b783a401e02c1ca23027a79ec6a2c22fa52a17
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56636a636fee0f51beee63beb40a9a08cfe0bd15d80057386c6593e64780b12c
+size 1140687
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000025.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1a77bd55cba61e08c515f50ef3d3ce1ca802c1c2
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ddfc85f215ef9c930262eb2ba8a650ed920639140ebb4db157259dd9f3d071c
+size 1049627
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000026.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..349433a7d9d981b899fdbb9e15a7383952af1cb6
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b16c235fbebacdf3aef7bc8d1e857dd99cccc470ab8be60e8792ccf6a32b953f
+size 1037482
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000027.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..202434afcf0e876890165922acf2711213a28b74
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f9cd1566c314293efee1305fdd61a154b926b44a73fcbf905fb7397861c6422
+size 1056481
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000028.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ecee0513f9a627b05727de194007f48169676417
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc3103c4052ce8dc7003b15ae2d8498fb364bf09fa65a6f8e4799f8cde1f68aa
+size 1299850
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000029.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..daa22ccd90f3c651610ff5494d80868ba48be4bf
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce8dd33d9611b9d561622f36d6ee6b65c5d9f65ecae54ae0759dd2a666ad0057
+size 1046641
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000030.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe6944daf070e20a71626b7f384fae4eae15803f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eabbd052e4d822100b08b38b271f0bfa59cb4378cb5adc3c7b0a35f727ca4b3b
+size 1049315
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000031.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..446494c3c1db209aa4b4696aab989184e6ea820d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35980ae15fc069f5ff4f0003be40b0a6cc5b5066b54e666f8253cadcc33f4ef0
+size 987671
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000032.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f7c92c37d85bf0ec0949a5b27738b150347766d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ab6fc41c79a21c77823b7c8aced56ce7e2877310594956da536f614b6ecff49
+size 1052760
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000033.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..23e2c4269a4a2cd3eccc66528a67c8cced90094d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c28b2d9dd84c06aca7b2d9c66b120751855f822eac5da0658ac0cf157d526564
+size 1122468
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000034.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a3c6cd5adc69314c0467107cd80e6c2d2125c534
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0700d4e4941d6a7523cad8729ea5905224c3f3a5cb04cce584a7ac965ff60aa
+size 1163552
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000035.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..abda81c63c695a46bb0642aee637170f7d3fa3d4
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1903377375788e7d0502e239d3995c2aa08aa105aaaee16cedaaf7aac9aa8b1e
+size 1158840
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000036.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5b272171b6f84d3263c0b43873051a93936b9e9
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c45df135b3519f7ddb8cc8db4ca4c6c1765ce9ebe8c9d02d06cdc7cb3ce71c3
+size 1173933
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000037.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f2639aa21ab905e307f5d22c14d75691be97c8de
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e8480e03243c72a85138d3f78a2b860bad0667d68dff64f8a6d4373a8bd3026
+size 1219483
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000038.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27c75efd5851d3d037c7adc7f6066d08bed7ede2
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c7da74f71ecafe769b5a60f2b49b79f4d1cedc1c8b7e48744c1db1f2a8e2d06
+size 1121932
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000039.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0bd2124cf675a06d8c7682c36011006692417b6e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a467fb008c1a058a48b4208f0cf1bcf6f9efab91af7dd75e6bf6417e8137ebf
+size 1069156
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000040.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..07b1b2dd50024869ada340263777b83f0d8e86fa
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000040.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa39bddc0a387f716dbc084698ea68dc9a5c95c4e31a1a7ff747208d6af695ce
+size 1074154
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000041.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000041.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb79dbc14187a51bfef7f109216d0c5e702c41cb
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000041.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2062f53a4ca5aea63ee8be26787eade98b482a95f648a5b46a2a59f0f7437788
+size 1187984
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000042.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000042.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f8e06a0747a275f6e25264edf2dee100c7d2fdd
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000042.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec23091206ede9a36dbc1e686a5113710ab030fe5208e5c485c4a0f38843148e
+size 1133046
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000043.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000043.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d6a741afc7a5508d40b8f2c6cfd8c2b8c21e78c8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000043.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70db3e9c8c617b4e408b72f2d7a689eb7a3bb53c0d98c17939603af542d2c038
+size 1269777
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000044.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000044.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f842c662d008cb336326b3042d722c4175bae963
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000044.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5547f3be00f8dadf7b946d832abcd1e19d8974fa883a6261e58cd04833bf8e11
+size 1105829
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000045.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1edc4881e03b381841b8fa3a0289421a44706864
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000045.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e65131f2c72e9487bcc916af182ff319594ad8ed511db8110c18c20eb96989a5
+size 1041334
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000046.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000046.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a20f61cf409d1a47dbfdefc95cea9a5aecf5a40
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000046.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ddbd3ad51234d22c83a4f0b3d6e6c9546ab0e6d6dc391ea41d53bcede976ed0
+size 975026
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000047.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000047.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c62c6afb67100fb85702c6960d10982182a4b521
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000047.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9686469e42c1767bac4daaafcd4c4c080e9282846e4befdfa086c8ae9142ab4a
+size 1121670
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000048.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e5fd3578c054cb2625460ef4b32fb17dcf52b6e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000048.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa6445f7f600707a1106cdc7283d02a68f6a5d9dad263f6116f1b0fe1e6eb0b3
+size 1119485
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000049.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000049.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4acadea2c63ed30955a7abd06f3028ff4ec5b2b8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000049.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50090a2511f035609cbeb4c41f61b89461f9858985fe6aa035d1b14e97547512
+size 1128418
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000050.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac2208999186937294b941674831ec29aa5fc1f1
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000050.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b5ec4994a6082e7c5ac4ef5534d4fba477d09156b099fdd7549f4965eb5f36b
+size 1036325
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000051.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..64882ebadeee54cfdb3a99988dd79076c0e70fb5
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000051.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6da73e5af88e3d2f56cb8e0c5b4639334d2793871f6a29ca2a071670ba31d5f
+size 1203983
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000052.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..85967a92d44af06d6cb14b14a9622f1c7cccdede
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000052.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89a1eb67cf6ecbe22ae4069210b8b89692141092e9f57df6c6bc19324c1471a6
+size 1054550
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000053.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000053.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a5e324f35dceaa9435b1864e69fd40594faccd4
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000053.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:609eab90bcdb39166aec5d27b80dc73987e47ac70a6243dcd0248355841c7d39
+size 1126778
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000054.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000054.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d38fe98e00f8c121ebf6c020403f951598300075
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000054.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfc1106dcce40358e9372a9e2ce1be1d41e2a3831aef0caaf51101f5384d0c53
+size 1118774
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000055.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000055.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de6eb254635261e5d9a14a47aae143a8c7777543
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000055.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63d8aba7b502e487aa2109d2397ecaa8ca55c770fb800d1792c763ddf39abe09
+size 1107472
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000056.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000056.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f333795428d668076d1c814efa571ffcf57d1c96
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000056.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d08627dbd633806b792b7c784ec4afc6169fda268aa2a240dcffc02280166ed
+size 1131068
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000057.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000057.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2fe917a00777018bda4547c29918cfe3e818808a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000057.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:828a08cc27b7ee5e75f12e1cba2bded376289b9586ecdf1b4561072655de0aea
+size 1212117
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000058.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000058.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ac455430f65a44066ca1c85945d04f732dae8ff
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000058.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b33a9e59da682384a1dc3381643e2fdd6aee35ea642a93c1ada2a2f483a959c
+size 1116140
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000059.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000059.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f6cb5c013b3e380fc96873e2afb2a08da7fbc98d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000059.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc5b5386f9aed52b028de78b17490189e4131de5ca5b9c55a8c3f195a30971e6
+size 1064842
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000060.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000060.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..642e1ee3938a6f29673a45fcd0ed6b880251ec87
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000060.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c51e027172031c1c4120dfa49f8c8158cd7c717a6a9583e5a8784a10ca7d7f3
+size 1094784
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000061.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000061.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fa3411d8bd5f291f6deac19fc0570f7bc188d09f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000061.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1312245323b31cb40732850227a859002daa5274d925f8edb9c88c59e2bae2a
+size 1042427
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000062.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000062.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c06f5ae843b3776a228867a5a7bf774beb65ac68
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000062.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e991cca9b9dd6a068905ad7107a966b6890b94e37e171bed939467b171d0ee50
+size 1019449
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000063.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000063.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d551ac6f3e3734e5900dc55550d4ae19d072c42
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000063.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6505d5b688e8906ef82fd5bc2f35b7abb82ca7b255f7f87b988a9c04835fb13
+size 1017528
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000064.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000064.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f65ae5c954d3ec50617ac0de0dc06909b40d0d4a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000064.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99e7538b9931efe5b7ce7af711c87e82281fc2b916656c1a36fafbb3430b696c
+size 1026618
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000065.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000065.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..89ea359f2190497a74dd28e721eacbef53257f32
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000065.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5ca6afb3ff5f16e3d877d4a0d21f0a625c470fc1adcee276c89510eb8552365
+size 1006587
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000066.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000066.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..976ba7b072737ece990dd2029d69765185e8405f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000066.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e21fba546a3ca084d99750ce5906a50fd5da6ffc3a828389a81f07bef540ee5
+size 1157585
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000067.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000067.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d78d61238b86b4ce850277861de432103c7f665a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000067.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2fa2909c19598b3da3cc00a74485978a8317744d8bec341551b5740709b9198
+size 1201355
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000068.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000068.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7505b2fc2c983f41d8b6d949ac53b6c562ba9df7
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000068.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:021663028542fce0d349132405fae4c7e7538b136b999fc897c9fc8c54e36b8e
+size 974420
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000069.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000069.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..304330a5fb70b889734840b7481acb57b38f315f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000069.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b823d6c7f1239e5d8a11f0c4f170a7a2670ce45b573e9b584c151e5a54c1cc59
+size 1029515
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000070.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000070.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc73b0fba93b23db5dd6e48d72d6771e16e9a15b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000070.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6df57153e4469ab097e4f0c2faca286bda1a30d3b48bb4ff191f8264f21a1fa3
+size 1193595
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000071.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000071.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e0c8bbb662f829814ca0d2beaca43936c655d369
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000071.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cc23afda36a07e6d4ba7c162169624ba8952d53ce0130e3d0a6f14abd2875a2
+size 1242245
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000072.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000072.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3edd9ad0480c8f04f31ecd36fa34d7d5747e7c9e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000072.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0691edf71e19f38b894c4be5df59665a00fbdcbc46826fce9eaeae13ce27cf4b
+size 994883
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000073.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000073.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b14c3dd2646aa7a9b73596e1dd897793f10147d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000073.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d57b50469b18dfb0c76489b67e8a7198099e491636e884a0a075f9d418177a5
+size 1018483
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000074.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000074.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..605072a5a8bb47b67a9936237fb6b7edeb381992
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000074.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:080cfa2c4ef634c8b58c65d59b9815faffb7245b679f2aa584413818c74e91a3
+size 1277570
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000075.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000075.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da9fbbd48307149b3289f9002e1a829dd732e080
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000075.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c485fd96e53b2095126a14cb98fe86daff1802cf0a1243a221f823519dc02aa
+size 1148402
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000076.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000076.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46eba36dbb40565a62f9e514547eb1bd0d45c6d1
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000076.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24e7ab18ec95649de62ce5a6417d8b2c977e905e86e317e69a00d07bc70256b4
+size 1067407
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000077.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000077.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..07654f97e9ac8cae9a36c9edb53e6f09f54dff54
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000077.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dea642b62f925d865a274cfffb8555660fec04918ecb69f0a2520dbecc0be08
+size 1197435
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000078.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000078.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b66b7801726a827be5cd9bf522313bf5a9d9377
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000078.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5446fcdcc1652a3aa272b5072a026a16d4ed7078febb47103ed3a804595d8b81
+size 1140809
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000079.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000079.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afc2857c7f752d5afe8b9378fb0c569d61ffdb91
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000079.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fce0fa1e5968af13671c7c0aab6994565189b03227cefd74ef5ac2ef62e836a
+size 1301290
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000080.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000080.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d074b0fa6186b5d0ef6f37f03e3c9ede31cc5376
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000080.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8955cf4fe8f64a0820bdd350baa6e46c157067d683308410a5df271eaa805a2d
+size 1036367
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000081.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000081.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f46e98705e925bc8ad01da64279faa6d1351943a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000081.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:815708743063fe098379f8d431dbb904fcb1cb86b7d328ac489b9273cc1e2bcf
+size 1137720
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000082.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000082.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d410c0e1d11415dd04cdfb37ac51c4e3f2a3d590
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000082.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49383852ba78777bd852257370d55f29e41945c4e18f2b13f56eebf81e0d3d33
+size 1098237
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000083.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000083.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..974928590647595dd1b84fed335c033fe5969cf4
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000083.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89f9fc4e8ab07b9b2b33859b734f0d831f61647096bd8f0f76af496720875a75
+size 1182705
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000084.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000084.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6ad60ef101fa976f17b2c8d220028e499abbde42
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000084.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8e1a383f5c74d2b15ef8d254b2adbb8ef2ae5b956c1a2318b5b175be785e03f
+size 1200204
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000085.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000085.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bcd3d87e8571d5ef1dac39ae65a01c5760e2921d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000085.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bc68c79072182f8c3f879b6b6ebad35f06f65e3d86e55a86bec2fbc90121533
+size 1211756
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000086.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000086.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..790e65ff318101d40f65aa7e7627ed9becaa323b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000086.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6b7108b3c45a980ddd04282e105ff19f0fb7c8d8b0030cf15034df8d2ea544b
+size 1158910
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000087.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000087.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c713639acee3223491417ddafa94d1957962e564
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000087.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:447b17009fda09320b19f1d30d95e73d744ff2168206f15f30d93a2c596ca552
+size 1159710
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000088.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000088.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a76a6393d209cea52c81e93343b75f400668ddc2
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000088.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f36fb2192aff347422347b8a5b2ead2b81d88bdc560dde0a8405cd92637ea6c9
+size 1121742
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000089.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000089.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..81f8cc8229b20ee3a309b9544071d52abdc54d02
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000089.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9bdfb98ff8c7519959c60552ffae255f25acdf39490610b897405f52359a6c0
+size 1047815
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000090.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000090.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..396981907d3bd36ed4c2e5f8fd7cb2c2b1b6ee70
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000090.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c33f24267bcb5ca8f5495ebcb12aa6b77ff5717735a90d97e647b91d9ac1e050
+size 1062075
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000091.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000091.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a7f35725a4cf0bb8c5a803d617b1c25a24037a0
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000091.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81601f3267265c9ad7ae1e50e027183e62a4f4cfb3ad17abc6f530634bd6e920
+size 1055844
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000092.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000092.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..508859c174b70f5e0cdb98a4318d886eed202e5a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000092.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:168ebdb66317dcdf861e1cbf7d745c9f7c9128e7ff8588040d862d2424afed5e
+size 1094405
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000093.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000093.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a0e25d5d73a4b00a0baa9df0f5e65726fae73b52
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000093.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df50bb03c34c1c8a460c9a0da1a8676dbf881345cc3b99ac25dba75ff6750a09
+size 1198798
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000094.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000094.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5379fc725c58e058ca811426602d3597b1247baf
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000094.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aef074ffe9d883184da6199995c11d86914aede6ec4fb933762c593ba8f7c375
+size 1111311
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000095.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000095.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1e26410f15bde1c262a38a9ffaaea2001c4d19a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000095.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:130c4cb029d254d48d8c0d93ddce52f0c7a1ccc49d3ebbff8b0042963c2bc640
+size 1127209
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000096.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000096.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c073f64888f21e9b93091270fb040ebc9ca7de8c
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000096.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69b3ce8208fbb4ebbad866b12eb635c4a31d1625aa7ab065c7d48b23a4537f69
+size 1238466
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000097.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000097.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..83765a4afe7debd01b06edc6a9713d0df26fea45
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000097.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46d2c88002b7465ceb215f8f81607b40b126e7f37cfaeed9958648eec41b685f
+size 1226265
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000098.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000098.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..45392689d83fc5f20a1285bf907986d1f2506c54
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000098.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:419f9cb91391792d8104876ac78b43104745bcaa7052efd776127b6ae4c7beac
+size 989520
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000099.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000099.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7548581e3e7d154409d8f6d9063f473b024785d9
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.tactile_right/episode_000099.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91ac97c8627daed5e0a0cfa1988aaa30324b91644812f4756c023a0e4c9acecc
+size 1129310
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f65122ca0cba3e24fa0c611c68d6ab260a0180e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e05c7793a21c7c562d9e9ce29a33bf4953b4f7c563b98053747a311d13f809d
+size 3120509
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000001.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bec256f8ed10e2c3e153a69ded737dff26028308
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bea08031d0437e2c176f0a7ad612c91f0e01ef8ece7f046a5be9e03ed62962e8
+size 2902303
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000002.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b0f34f43258eae44d9cbb6183e4b366592a2371
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63b2128a04ba88b3563213c5c1cfea622c36eb2f17809d11e2e2825b62082166
+size 2901459
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000003.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb704f9f935873b638fddf5227130f07c754d50d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4df5e9a1015b61c608f6a32e3b307ef77b08590bd34a7c859d762479012cb47
+size 2718780
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000004.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a7e3e3b36c10861fa933aa16f194108c1e7825ee
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f067e69aa1a35ea2e1a8fce77a8716f66950f85c52c34a09947d5c94a804eb4
+size 2991108
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000005.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9815fc3c456e6f5e5c64ca1625ab1de9a7d62fa1
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36a226faf7d41eb5218728c319e7b8f47765880394d10153a544a0c961de5152
+size 3040493
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000006.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01a149db69f08f429c21b184b9d403f81b54b5f9
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ca90080454904e9bb9a710c9dad884aaa793f7fee53f456f870b05d2fdf734b
+size 3138599
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000007.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee3a7e591eac758b25c2b0e5fdb6b385af3e9eaa
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e53fe472ba03f867379f354678db23b9e1d554ec85e8cf51a4c9edf0b118d7b3
+size 2798672
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000008.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..204fd583530660b89ffb31efad0b500333dc127a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4f30323c8084af5fbc4d73f42a6ac01451727026aef3da6a372b5d2bc02ae9f
+size 2759418
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000009.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f338b7b5286f18f4e5ab3c295a07c20286d18348
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d4e4789d8acd6f3aea0860e05de6ae9dcee44f10c465d6468fa22eb17c0ef0c
+size 2986969
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000010.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7f3c9afa65336a86319a6b9ce94d9d04839137d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6520b064acc6df8da23128c9a04742df69e90323631ffc08059622eb9cd3fee
+size 3070319
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000011.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd48606004477b95a270f9d6b39cae72cb559ebd
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b39d99555191d49e98949d1d14b1194fc571f8f33fb9bd342998dec4003fa23e
+size 3172722
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000012.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9b5e590652424387e4414eb71af48a88b90df56
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d515cac35da2858a8938724e53bc257f1e315bb472652ceffd5d770f6ce40e06
+size 3023161
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000013.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..42922c0327d5808901bf83dc52425904e62c91fc
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d15b973f7997faf8cbc0a64f03fed2459a4ccac7df88f96a9fd30c46717a85f4
+size 3090309
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000014.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04a683a8a062646d0f1d7105a12c641cf273bc2f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f252cc4147ee2f4a49ded5480263f5516286d27f2fd656b65a549aeb0b89b9a
+size 3232272
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000015.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44cb9b948c56d79321bf1003bf110a890c14e4f7
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94117086ca2e299648ccbd0c348ec2574f7c1bc26d7f28cdb289951abc6b5309
+size 2751126
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000016.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b88a98154128d932a43ee240b63c89b1ccb1c90
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d531a951e7dadee2cb52b2d47a8600ba6a192377059257283ba645eee90cd63
+size 3156832
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000017.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0eeec2f162d3a7b43f302483c3c2573c931c717f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d605972dae6dd0f5403a33cc28df08c5fce490d993428d20a6c3cb6488df17ca
+size 2955176
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000018.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad50fd7118c6d59f67d68ac5dc45d069c83d1e61
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24c571e10b45a1d338c895267da54ff05a018c62cba6efe06001e9cab10ebf71
+size 3307093
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000019.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d77c11e9675b9b6dd5c323e5017e622abb991dfb
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5560207c8404ec897af206996aaf7b41a91e6bc00a3f90285a9799a52560b1b6
+size 3068801
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000020.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb311c49a64d984a7abb4dc3d38b8d03d0591bfb
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e36a3262f528f9f6c2c8d456fe02ea5f73d0d8488c945c394abe8a14e1af83ea
+size 2967870
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000021.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3142bf628be52f7b7007157919700231701f44b3
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2699378dd4a85b2666c1ccc2818db640de3708a315f81fc98dcdb31466b55328
+size 2841646
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000022.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..670502099b415d9d148052731271367da0f05a54
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f8f99e27ea145896ace81937713150b8bbfafa3cc054230045bc382215f7b44
+size 3014552
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000023.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ff14d9d720910662d5c77e1d319bd5d3abce31a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b6b0be3abad53abe5d0b343e2a9cc863aa7a0571ef31346fe45910ffa5ac529
+size 2895134
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000024.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fa83ccf9a74a70e89eaacf3b7ed24c64d406ebe5
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c6833909487699bdcc8146c868fde6aed14881b5a222f26d576cd7767dfdaab
+size 3011862
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000025.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..28f7223025f2b1dd850c1f4e397980b254d961bc
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab1cad685de8beab6a61c117c921706b7e40f026ca2549f95d8415302b27bec0
+size 2800939
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000026.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..787598de5d03b87d4afa618a2ddd907eaf72c9d2
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:927900aa2b09682e8a1f2edb477a61bddd601fbe30f0c04f6f083202260ed988
+size 2796388
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000027.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ef60f06edd3b8dc3d39722308c0937ac8f5d9a5a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44855df95da7d4b158a97eff1947eb974b8e2d1d7fafeac9baf588898a12be29
+size 2863901
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000028.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9f2cef09cda0ddbf69bf1b72fc7b0ed41aac567
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95a0fff7d2f3b67d858f0093f071cb51e7463ba4e46abcd82bff518821a97416
+size 3410612
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000029.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9cb259bdbde1e1ba33d13c3a2a53a6e323be9254
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0617242b738a3660c4b5bffbeb142e075bd47ff226ef5d8ecf8e29b0d7a7efca
+size 2807180
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000030.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae7ff11bead47f065e42f85db7d9600f81c1cb1c
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c609f6e56d8be97704b091ec615d25babb843cc461f5774ba1065e81c2ee0d9
+size 2871304
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000031.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce0757211cf7d4036fc7fcf91e9d1a21ce44e202
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d902e1a9b177f4840de3479f1d616ccd320bd9549c76758e3f961037595e216
+size 2603229
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000032.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01137428b63ad1f9f8086c9b26706c81574a2b22
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d78e146a515a897c041a1589d62d1e256ee4e58cf2c94c54752f85e3057dceb3
+size 2875143
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000033.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d91b358b3d401ae0c0aee55027bb3f2285b19f40
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f29c7eb22d9568c7b2491e42fd75f2b2e9f82eef2cc8cc6fa30572ef7849aed
+size 3002779
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000034.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4e40b19a819d39becc4d0b1bdffad2dfb9a041be
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68bac403ab6176e25deaa38f640ef962611ba2d1d47617ed05968d36ef3e9baf
+size 3074292
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000035.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17867ff7dda9560bb160c01e02d7576b9db52601
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45a5c601ea6bf340a40abea6763e42fc32733d41f0fb63bf17febb9da195ae95
+size 3140983
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000036.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..338afcd3141a2399ba94abb02b3d254a2f7c76c4
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:165cc1ee38dbc6f6c264d17d48996022bc3bbd057132008eec575a017da75e9b
+size 3197050
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000037.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b06817ad54bdcb9dcd8dc2758855363e26b1aa0
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24d19a73fc89f18059d6515828c2acfa26bda5d15d1c26b1915f6f2865524aee
+size 3247936
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000038.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4021b8b524edcb0ba7dbb9c1b45530f5cc30b97f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da61f7a9d929f6248f1d118e8f4ad59c2bb2f3e3408f58d1e6b0c063200f2786
+size 2996218
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000039.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ebaec8a38dd79ecf88c0eb4ab1a0b36532cea92
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:221718c08a2c37b75991665b12de27f5ee0e94ad98708c89e156ab0e57ce7cbd
+size 2888493
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000040.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5fd4b9d3e11cbf4f846f3cc6d8007ae7b492681
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000040.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e82afc8c68266258927c245bead4d7f3fbeb29db53af6d314ea8cb233aa2dedf
+size 2826255
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000041.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000041.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6206ed2ac53e6a6e4cbf111dcd55dda80ac98210
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000041.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efa15556f691d1791a7d0a8af27305e1c8ffe28ecde840274fcf3d12c00528cb
+size 3173323
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000042.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000042.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8978369c2d6a3e5e6477ccbb62490f956c04fdce
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000042.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fc7f293ee94974ee3863181180e489d838a972f4733504d41125fba9a464c10
+size 2981582
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000043.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000043.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..268beee75e9f9b2b690ad7e86463a7d39e61a1ef
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000043.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12790951fb016e556be7f9b7fc8c548eff441f2184f99ad19662f5fb228a2ecb
+size 3373694
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000044.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000044.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b76c476ae9d65bcb1162af612b26cde6cbaebd66
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000044.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bc2c5dcf561f7216c2fbbec5feb5300c83c857aebd1515bc29f9b00194d8477
+size 3022845
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000045.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a96b6176b8c05ddfc0f22d261aca24cecb35c90
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000045.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98c53a7f8b8f81f53d485b4ba14fab6ce643a40c039da51b658b43161ffdb74b
+size 2686554
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000046.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000046.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a217de4915fcb1ff1e1ea6d22ecfa08d774dde9
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000046.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:001e1a705fce13656a80b7a7ae45cb061e4ef15d04d75a9787314439a623103a
+size 2556863
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000047.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000047.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3824c041e668ae7c558f7d9d4d4863d9d17c858
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000047.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e9199f12b615fa149812c37f2fa05c6aeb3d2ccd93f57d621ec6f718f976a6d
+size 3017625
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000048.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c0b9c180593c54c788362c36b61f497bb342f6f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000048.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c482a0bc630968d26bf53cfa64eedc2a33aa00b0ad0a3bac27f23d50d10412d
+size 3045654
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000049.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000049.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d786d4ddd0901726ecae5bb811281740f6b12c9
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000049.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b80864f6f60a0bb2ef68ab3fe85ca2a483503949a338c969d8048cd00bdfd7a
+size 3050620
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000050.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50e1157c2952aeda83e3b81f5a08bb7bbc1bd50e
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000050.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43fe355945758136e134d5547b92cd5c3972779a17de9af307411685d1926399
+size 2743308
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000051.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68b4e2154bcb5f115ffa47e665e2831a671e105b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000051.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:892d8f94c8d15d1c3b712f4856fd89e640754638d27c55489c7c273424aaa1b6
+size 3131090
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000052.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..288c488e6a1df6265b2c55eb61bc939ebe639a57
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000052.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9559989957c4c370aa58b981829c5a97ec7bd3e1bdc60e448b4f971fd9f1c2d5
+size 2860441
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000053.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000053.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a19fda1edf00c108b91da0539faf88ff48a7793
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000053.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67602889c85045f754be0df0adf39eba63d240de559378c6cd0b5a14b0f4db26
+size 3095190
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000054.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000054.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c8e43fc6f21475a24292b74529e7a88c5d671925
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000054.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb5a82d1d7507081b0459779dcfe428ceded3c59ad1cb669876514ac8146fe56
+size 2984673
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000055.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000055.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31f4d456293946ff32fe335ed26113ddb25ee67f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000055.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c63e8a8140302c6e9397efad86d24a036c5e89119713679a8bc1632ce8092f3
+size 2999380
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000056.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000056.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..025f876ffacaa54c24791a01c59971af5c97b3b3
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000056.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b7857567d7c4f638e8c53e6f1e2da2e7f2a0107782cbde96960ad55810773f3
+size 2956925
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000057.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000057.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..884a42db3397c2b7cff06a689265a25047d3351c
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000057.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a03c8893b0ecc6caaff6247b43961f33757a4cd57abce03804dd2cf77883f23
+size 3281031
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000058.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000058.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..069c67899547c8f542f36e180a8c0572855ac463
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000058.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28093048b4571ace3670e8f1a2bad61d582173231f245912af01dbb73a7026d2
+size 2957942
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000059.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000059.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4ec3b20f4e95fb3c654175de936340024af2b4b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000059.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:574acdf8d6c20debb2d0fd0aa61028401cb803238a6c0b25655ead43dfbafe99
+size 2925655
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000060.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000060.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9205567a3f17cd8959be395af2ee737f6e57c0bf
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000060.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a433c8f1a180a91372e2a353d50c4eec31331ef45f428795ad96423664bb50c2
+size 2890913
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000061.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000061.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1661b7a9517486f2629ba21fc3b2e8956d25699
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000061.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e79d577899fd64a3e2cb98ea2db686938ed7db41477a2e998fb383eff3f1019
+size 2775775
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000062.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000062.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..976d1153be96851ce1892f321032bd3a7a50a8ba
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000062.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10ee33010d0ed9a02a0473446026246df93cac97cbe39f6fc702a7bad4c96b28
+size 2695280
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000063.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000063.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4e19c28b149fdf88bd247852032fcd0d1c02b166
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000063.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fafd5abb4ff5f0e0e17c3429afc07c169117f8511b7ac174df38e98a872236b1
+size 2740968
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000064.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000064.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1a3bec4edd8d3c48d24e6252d4c545f22faad959
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000064.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:032fdb33e4841f7ac9d257e7d7a4d5426570429b5a01772ee0951d53c0f13093
+size 2705025
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000065.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000065.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1bfa17af43d1a61dc662662c8f45901e1ed2746b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000065.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccab3fca5656b16167d6c28498b4766471ffe45deab27d751ffc20615e67d6ae
+size 2701400
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000066.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000066.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22bd745eff165bd23f400a56912343bd12bd71dd
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000066.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f19180de25787edc55e0d159e4923089bcdfd8dfb219b09fa209543cb6d97e9d
+size 3031007
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000067.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000067.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6ea75173fca1170c330735fdb78b6762b5d62c01
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000067.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:984132cef317ce2f00abee82199ebef48b0c086b40058d59906d16243046f8c2
+size 3277078
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000068.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000068.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..552f8c63bb18ff6ef49c04ad34fff3c55d74f95f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000068.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7cc53b6eaba7be613f8e80c15fe4998b7c3fc6139366f0e67b113941ad0e350
+size 2617626
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000069.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000069.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..858685f4adb36bc8865c38fb149c6415970c332c
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000069.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd9fdbc83bd9713aa9b5c2ce82a0fb822289867f8d64b3c1b7e7dcf7aeaac5ac
+size 2761826
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000070.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000070.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbde4fef0a43d4fa7be690a9db238b88dc2c71b8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000070.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ae66ab0a9da86b8b708f30df7516a3d733b4e5cbc697f96b8f4910d034ecbd9
+size 3212836
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000071.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000071.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5402a741df22436b5ebc52592bbe2eb5043cdd5
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000071.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b775b3807cfc3d3345cf573c74b71a3a8ed17d56e11df3e2e8917bf2a73bc1b9
+size 3363663
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000072.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000072.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c4b665dd4e47ac9ad9417b9ff601f1c0841fc6f9
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000072.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04303d038b6a6eb2d0cdac6c106379ae69ca0ddb882051fcd60a77d3365bd716
+size 2653797
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000073.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000073.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b21597eac9a14a30fcad3a529d240216f7192653
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000073.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d94777518d39e3853345183ae64a0ea0eac6bca1058da1c63082eb6f4dabad6
+size 2753412
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000074.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000074.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..64eefb5daccbddf138252fa5af2d997b12ff0905
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000074.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c18686aad69650f10033d0003e980cc6d160ac5ad609345742e05290c2bf6d4a
+size 3538791
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000075.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000075.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..518ace248eaff8b46e339f1bde7f703dcf0c4466
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000075.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19388b42548898e3a551dc09feb73112669fc9fdbc0439c4977bf05ddb04b467
+size 3115990
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000076.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000076.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ec01269f4994c50972454696c53b6fc256ab26f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000076.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1cd993f9600eb5ada0ff2469d3d405a400b15f55d423764ebb4653fbb5bdc0b
+size 2858393
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000077.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000077.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..984b68e49de6849e35963f5d05b0721294583acc
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000077.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc7a09f7add388c15cc9b9254c603cbc666f4d0b7b6eb3ccc30fb21e52938607
+size 3291346
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000078.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000078.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44a7dcb399ea70c15035d31589d000de15772f96
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000078.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2771f910ae0494f854754d912e79b0a90f7f0540d4003a7c2122efdb8336c827
+size 3082001
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000079.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000079.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74e38a7bde1f201006ae80e6d34a55b0027d90ab
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000079.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78bfdf022374e74164271488ba26f99755619cad5b1b233d16787af47fdff135
+size 3573425
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000080.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000080.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6dcea304fe55d51d0861c083df2a3872b071fdb6
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000080.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42dd5c950f84bd27b03a763c8b565ce2bf14b8852baee9ca5b5935501b747555
+size 2768268
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000081.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000081.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..48d4693c4a3eb69049fe2da80e2e636101e8f655
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000081.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:637232c9ffd4a476e1fd3e26ba18c849530990edcba1a722c139f0dd000752d2
+size 3112452
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000082.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000082.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f92f0bb63c686b7708dbf603b4864dc0678355d4
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000082.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f4b24da633f2b179f0e968723530596abf1f2405eb4009bfc686bacef3b44d1
+size 2979301
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000083.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000083.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4987ef5847c45a5eb082673d9d83eb9cd4981473
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000083.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a03554cfa58448413fe98ab728f86b7b45eb84dbf95d8a5c029936b716e2b79
+size 3210186
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000084.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000084.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d82f01a5cdaeea4eb1500bab9c6e13fcb1bb752
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000084.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4eadc91502bc40fa2e21f61485f6cc9a2e188cd581eac0b4c94c8368c7dca92b
+size 3294133
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000085.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000085.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a1080bdca42dd437addba43baa0d3bde07bd15b
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000085.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e770f9f6445ed75a2714ba747cb3253c031c02a9384cb7952b9f2fec2607e93f
+size 3270296
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000086.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000086.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e08f2f3574802fe37ded9c962bc9ebe51767b5b8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000086.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4665719d90199dcdaa5eb70c64e1edfb02b78eb7f477386c3469226d9abe11bd
+size 3124911
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000087.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000087.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee8e8aa61a7c1d5b3880f2d68fc969d27e39c9bd
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000087.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28aeacf4541801d8622899afc5ad2f5aee43c8a350fda64d0a2a4413e846c923
+size 3114750
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000088.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000088.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..16c30cda1ba6175cea90b08b87c950ff0b8e760a
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000088.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adced4be2575f4521bce5f9ec9c3e5dde9eebb60a756a78038aea402db580f4e
+size 3039379
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000089.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000089.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..64431423f178a4735e98a2a0b5a22699dd022b4d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000089.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0043686525771b66d4d8c1ea59890fe5fb5414cba4a900cb0582b605a46c4f09
+size 2855873
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000090.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000090.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..07c570144b6036e8626006f7a964cf96a29ff213
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000090.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a85b56eff500ffbec0ec078867224d33eff87646d6cb119c4a0a64603ef6d38
+size 2908359
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000091.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000091.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80dccc0f8b403776948f938fc2055f3a149447b5
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000091.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30a1663e5c7f383518a9da5aee109c26293c6958f132bb69064210e59e034c78
+size 2856829
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000092.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000092.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca0e92551000ede7696950b54d77df3e8208ebce
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000092.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f34e7a04865a0c0d309fbdf5fc9318ee6311b8764f76746a1e397172de4dcc6a
+size 2866718
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000093.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000093.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8fdd04019037ae1f471ae5226fc62161a9c8728c
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000093.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6849394a676a97f3319097cb294f738e8ab05cfecce0c796d19303830a740655
+size 3120225
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000094.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000094.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..42a02532d6e557e6e16eb22a38d0db8b2623f8fc
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000094.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5695b830cd3ca8d53bf778afe9c82a56c1f9ffbb775f06f557175dbefcabbe50
+size 2962672
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000095.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000095.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8cfc1a774caee2bc20785e7c3d702e7c66a713ba
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000095.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:754c971b3675bf97e1b751eb2d25acd211cebfb503535034bd0e9e4657d1249d
+size 3049144
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000096.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000096.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f06252823a285b4430dd34ee5071f993660fbd4
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000096.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0c3af59609ec0f8c69cd566e1bfe02757008713e50c28e57ffab1bc6d03dccb
+size 3373712
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000097.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000097.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b8a831046abade49f8e676b568774f436340461
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000097.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ee3728f81db678f04dff7a72d700090896b1c3e162a42c74c536c48ea2022e5
+size 3355021
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000098.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000098.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c914d8bcb1bab806c0d3541cab598811f5d01d3
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000098.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a391553bdcb82781f64825a5da7fe19010b99d8ae9ff904a9645f4dfa5c906e1
+size 2593857
diff --git a/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000099.mp4 b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000099.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3399637d0b78cb110c87196e05da018c65864ae8
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_USB/videos/chunk-000/observation.images.wrist/episode_000099.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc0480133c7844def5a750afdd9f2b90a63b83d697e0a874019841607f9ed4d6
+size 3027897
diff --git a/Simulation/GelSight_mini/insert_block_v1/README.md b/Simulation/GelSight_mini/insert_block_v1/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..f119fc299626767c01251053abe430c165af056f
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_block_v1/README.md
@@ -0,0 +1,9 @@
+# insert_block_v1 (OpenViTac simulation, LeRobot v2.1)
+
+100 episodes; 25444 frames; 60 FPS.
+
+Task instructions are listed in `meta/tasks.jsonl`.
+
+`observation.state = [q0..q6, gripper_open_fraction]`. The first seven joint values are radians. The last value is `(left_finger_m + right_finger_m) / 0.08`, clipped to [0, 1] (0 closed, 1 open). Finger positions and gripper width are retained separately. The EEF pose uses simulation world coordinates and an xyzw quaternion; rotvec is an absolute axis angle, and the rotation matrix is flattened row major. All numeric observations are float32. There is no action column.
+
+Four RGB streams are MP4 videos: head and wrist (480x270), and left and right tactile images with visible markers (320x240). Timestamps are frame_index / 60.
diff --git a/Simulation/GelSight_mini/insert_block_v1/data/chunk-000/episode_000000.parquet b/Simulation/GelSight_mini/insert_block_v1/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4011cc8f61df310c3c799f7906389683ec4fcddf
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_block_v1/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c79aacd841205284947b8fb15139c6f3a4e912de9c6e56994fa72f71b7487f7a
+size 61695
diff --git a/Simulation/GelSight_mini/insert_block_v1/data/chunk-000/episode_000001.parquet b/Simulation/GelSight_mini/insert_block_v1/data/chunk-000/episode_000001.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9250e07b6aa32af52d0965fca82185e628b78cdd
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_block_v1/data/chunk-000/episode_000001.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c44b92a301bf797b08e4738f7db5117ca215d8d0505898d6656f7e825c19056c
+size 62745
diff --git a/Simulation/GelSight_mini/insert_block_v1/data/chunk-000/episode_000002.parquet b/Simulation/GelSight_mini/insert_block_v1/data/chunk-000/episode_000002.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..78e86ce980ec99695feefcc62701aa8d1ba80121
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_block_v1/data/chunk-000/episode_000002.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34c80adc797036fdece17a8093b2deaaa805344d4981b1d12c97fe1805a0f9b9
+size 63325
diff --git a/Simulation/GelSight_mini/insert_block_v1/data/chunk-000/episode_000003.parquet b/Simulation/GelSight_mini/insert_block_v1/data/chunk-000/episode_000003.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bc33b66e5d8e339b6dff479225dc70e3f626214d
--- /dev/null
+++ b/Simulation/GelSight_mini/insert_block_v1/data/chunk-000/episode_000003.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daf524a59bc337211e0e1088cbecc209569b8a134532fcaf419cf7a523409c5e
+size 62151