{
  "info": {
    "version": "1.0.0",
    "datetime": "2025-06-13-20:24",
    "operator": "someone",
    "main_cam_info": {
      "width": 1280,
      "height": 720
    },
    "wrist_cam_info": {
      "width": 640,
      "height": 480
    },
    "frequency": 10,
    "close_width": 20,
    "open_width": 700,
    "episode_dir": "Box_push/episode_0022",
    "episode_id": 22,
    "task": "Push the box to the lined area.",
    "total_steps": 309
  },
  "data": [
    {
      "idx": 0,
      "colors": {
        "rgb_main": "colors/000000_rgb_main.jpg",
        "rgb_wrist_0": "colors/000000_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000000_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000000_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3579597192076574,
          -0.2918586804122321,
          -0.1284700916350488,
          -1.5191471563444272,
          -0.10984926535311726,
          -0.5092535993465213,
          0.35808774284926886
        ],
        "joint_pos_r": [
          -0.4804558620654106,
          -0.2846939342943334,
          0.27779962033772554,
          -1.3152536087568052,
          -0.02999999999999998,
          0.7533570687157973,
          -0.19766064072896
        ],
        "eef_pose_l": [
          457.7654875079824,
          348.26789076978366,
          116.82043144788786,
          1.6656263244780796,
          -0.07549365071694024,
          0.8180631129867808
        ],
        "eef_pose_r": [
          451.8198644042035,
          -395.37474812687867,
          103.95054334691986,
          1.6899619082336146,
          0.01467828992638148,
          2.3499154246584135
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -28.83544921875,
            10.72998046875,
            -20.2880859375,
            -4.461669921875,
            -2.7191162109375,
            -0.677490234375,
            0.0421142578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            26.806640625,
            15.1611328125,
            17.449951171875,
            -4.949951171875,
            1.9940185546875,
            0.948486328125,
            0.26824951171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.8,
            -9.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.8,
            -9.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.3,
            0.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.3,
            0.6,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 78,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -227,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35796024155959894,
          -0.2918586826529715,
          -0.12847009057949854,
          -1.5191471471316431,
          -0.10984926145879786,
          -0.5092536146021348,
          0.35808773475403305
        ],
        "act_joint_pos_r": [
          -0.48045552146903336,
          -0.2846939284347493,
          0.27779962619124293,
          -1.3152536269136812,
          -0.02999999278066534,
          0.7533570419891717,
          -0.1976606453185637
        ],
        "act_eef_pose_l": [
          457.7654875079824,
          348.26789076978366,
          116.82043144788786,
          1.6656263232034922,
          -0.07549364575442369,
          0.8180631049630253
        ],
        "act_eef_pose_r": [
          451.8198644042035,
          -395.37474812687867,
          103.95054334691986,
          1.6899619074564978,
          0.01467828963162954,
          2.349915409173695
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 1,
      "colors": {
        "rgb_main": "colors/000001_rgb_main.jpg",
        "rgb_wrist_0": "colors/000001_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000001_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000001_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3579597192076574,
          -0.2918586804122321,
          -0.1284700916350488,
          -1.5191471563444272,
          -0.10984926535311726,
          -0.5092535993465213,
          0.35808774284926886
        ],
        "joint_pos_r": [
          -0.4804558620654106,
          -0.2846939342943334,
          0.27779962033772554,
          -1.3152536087568052,
          -0.02999999999999998,
          0.7533570687157973,
          -0.19766064072896
        ],
        "eef_pose_l": [
          457.7654875079824,
          348.26789076978366,
          116.82043144788786,
          1.6656263244780796,
          -0.07549365071694024,
          0.8180631129867808
        ],
        "eef_pose_r": [
          451.8198644042035,
          -395.37474812687867,
          103.95054334691986,
          1.6899619082336146,
          0.01467828992638148,
          2.3499154246584135
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -28.8720703125,
            10.74462890625,
            -20.294189453125,
            -4.461669921875,
            -2.7191162109375,
            -0.677490234375,
            0.04119873046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            26.806640625,
            15.16845703125,
            17.44384765625,
            -4.962158203125,
            1.9940185546875,
            0.9466552734375,
            0.267333984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.8,
            -9.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.8,
            -9.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.3,
            0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.3,
            0.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 97,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -169,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36388369698994066,
          -0.29008199700656284,
          -0.1294339274060832,
          -1.5298729391333528,
          -0.13447970473211637,
          -0.48928663489360047,
          0.3736727231232625
        ],
        "act_joint_pos_r": [
          -0.4794024317942749,
          -0.28504312610899857,
          0.2777711550181505,
          -1.3174258786900455,
          -0.034562650808152906,
          0.7512765986424113,
          -0.1943833206869014
        ],
        "act_eef_pose_l": [
          458.21668750798244,
          348.4038907697837,
          116.31963144788783,
          1.6620267494616239,
          -0.06690424992549122,
          0.8326502994615114
        ],
        "act_eef_pose_r": [
          451.8470644042035,
          -394.6715481268787,
          103.82414334691975,
          1.6921249116097126,
          0.015309231651114062,
          2.3509094344991266
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 2,
      "colors": {
        "rgb_main": "colors/000002_rgb_main.jpg",
        "rgb_wrist_0": "colors/000002_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000002_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000002_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.35870628251992304,
          -0.29163477977726465,
          -0.12859155584627413,
          -1.520498837666413,
          -0.11295323550503257,
          -0.5067373286031439,
          0.3600517886086489
        ],
        "joint_pos_r": [
          -0.48033698110876294,
          -0.2847333379312801,
          0.2777964083838377,
          -1.3154987343040954,
          -0.030514862210122753,
          0.75312230189967,
          -0.1972908188025784
        ],
        "eef_pose_l": [
          457.82562400272843,
          348.2823375956727,
          116.7673722397917,
          1.6651173591560808,
          -0.07442938191014367,
          0.8199055441630402
        ],
        "eef_pose_r": [
          451.8229402406831,
          -395.29525041183234,
          103.9361535331704,
          1.6902064816786457,
          0.014748811695405243,
          2.350028167957322
        ],
        "joint_status_l": {
          "velocity": [
            0.5591442716830208,
            0.16769559331875072,
            -0.090973445340925,
            -1.0123731000799552,
            -2.324790110505792,
            1.884619336754767,
            1.471017542234776
          ],
          "torque": [
            -17.80517578125,
            11.923828125,
            -20.5078125,
            -4.632568359375,
            -3.768310546875,
            -0.38818359375,
            0.4815673828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.10092834924213534,
            -0.033456136457221675,
            -0.0027272830576130502,
            -0.20812545534987237,
            -0.4371482755880507,
            -0.19933007285821702,
            0.31400053554264673
          ],
          "torque": [
            27.59033203125,
            14.267578125,
            17.24853515625,
            -4.55322265625,
            1.67724609375,
            -0.208740234375,
            0.55755615234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -15.7,
            -9.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -15.7,
            -9.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.9,
            -17.3,
            1.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -17.3,
            1.6,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 93,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -202,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3602898097526936,
          -0.2910393027269275,
          -0.12889883824506193,
          -1.5236707270536192,
          -0.12325976832018054,
          -0.49848384754707625,
          0.3750471390071162
        ],
        "act_joint_pos_r": [
          -0.48276659491315277,
          -0.28279837726824236,
          0.27892751874252464,
          -1.313283953302528,
          -0.02382042360379444,
          0.7556237222899186,
          -0.19324092082020844
        ],
        "act_eef_pose_l": [
          458.3486875079824,
          348.74389076978366,
          116.86363144788793,
          1.6632056688874055,
          -0.08000501531900021,
          0.8262929967801462
        ],
        "act_eef_pose_r": [
          451.5054644042035,
          -396.7243481268787,
          104.30254334691995,
          1.687069579848306,
          0.005406415529633841,
          2.346531660053537
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 3,
      "colors": {
        "rgb_main": "colors/000003_rgb_main.jpg",
        "rgb_wrist_0": "colors/000003_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000003_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000003_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3590816765707071,
          -0.2915151882152301,
          -0.12865551751513926,
          -1.5211962285301,
          -0.11473035497347024,
          -0.5053025911081271,
          0.3616686803272983
        ],
        "joint_pos_r": [
          -0.4805513665976474,
          -0.28453480728865954,
          0.2779224307239173,
          -1.315372083078313,
          -0.030018362017515367,
          0.753286507752673,
          -0.1966478370661205
        ],
        "eef_pose_l": [
          457.87882431484496,
          348.3146431044171,
          116.75271557619226,
          1.6648138197456246,
          -0.07434915837511542,
          0.820975296888882
        ],
        "eef_pose_r": [
          451.7887383304436,
          -395.41626980038836,
          103.96988543212412,
          1.6899756706614615,
          0.013728809232109795,
          2.3496885725969285
        ],
        "joint_status_l": {
          "velocity": [
            0.13047453551395805,
            0.05139411694843332,
            -0.026277863807488977,
            -0.2672379587771445,
            -0.9211494735932302,
            0.7364025855607359,
            1.4448309244099455
          ],
          "torque": [
            -18.4716796875,
            9.697265625,
            -15.655517578125,
            -3.69873046875,
            -3.53759765625,
            -0.6829833984375,
            0.5438232421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.23923760213850898,
            0.18752891133555494,
            0.1085463046073265,
            0.22551136468429434,
            0.6693576070345153,
            0.2524117255360281,
            0.3679361028632311
          ],
          "torque": [
            20.11962890625,
            16.494140625,
            18.316650390625,
            -0.9033203125,
            3.81591796875,
            1.453857421875,
            0.50262451171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.8,
            -8.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.8,
            -8.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.1,
            0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.1,
            0.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 66,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -196,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36145209685198093,
          -0.29396345993300776,
          -0.127917769204369,
          -1.522691683023699,
          -0.12247026057089258,
          -0.4962092653123728,
          0.37318744233238943
        ],
        "act_joint_pos_r": [
          -0.481158650761055,
          -0.2791859156282106,
          0.28222485047580076,
          -1.320493664959394,
          -0.039538320150739104,
          0.7465665197491232,
          -0.1878733888962553
        ],
        "act_eef_pose_l": [
          458.9262875079824,
          348.0558907697837,
          115.54283144788774,
          1.6654377677117223,
          -0.07718763483981339,
          0.8263982587214095
        ],
        "act_eef_pose_r": [
          451.2382644042035,
          -396.96674812687866,
          104.57934334691981,
          1.694992179719048,
          0.015574715047864082,
          2.3438097976724594
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 4,
      "colors": {
        "rgb_main": "colors/000004_rgb_main.jpg",
        "rgb_wrist_0": "colors/000004_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000004_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000004_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.35942443695975973,
          -0.29167063896604456,
          -0.12862018548632706,
          -1.5216097247814004,
          -0.11637767675925074,
          -0.5037360958038015,
          0.36419915389548274
        ],
        "joint_pos_r": [
          -0.4807674910055488,
          -0.28375130901240886,
          0.27852796503253385,
          -1.3158859293643146,
          -0.030827518148485864,
          0.7525869237497347,
          -0.19532737798317445
        ],
        "eef_pose_l": [
          458.02380742790126,
          348.34142148449223,
          116.66362119291975,
          1.6646716620761675,
          -0.07524711761985507,
          0.8220536206294374
        ],
        "eef_pose_r": [
          451.70149657083897,
          -395.69337237195924,
          104.06608753672549,
          1.6904303937285392,
          0.013430745938993094,
          2.348751660858662
        ],
        "joint_status_l": {
          "velocity": [
            0.21898080986559876,
            -0.24761736134815138,
            0.0758587211181494,
            -0.11684804391798309,
            -0.6579796455848941,
            0.8128737186456902,
            0.9707065217274824
          ],
          "torque": [
            -16.75048828125,
            5.8154296875,
            -9.674072265625,
            -4.266357421875,
            -3.90380859375,
            -0.41748046875,
            0.556640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.0422440076741637,
            0.4930479438218782,
            0.3992518525688382,
            -0.4976207677280797,
            -0.9407388706334507,
            -0.6501844559005932,
            0.805007078972686
          ],
          "torque": [
            20.302734375,
            16.61865234375,
            18.975830078125,
            -4.547119140625,
            1.88232421875,
            0.0164794921875,
            0.567626953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -16.8,
            -9.7,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.1,
            -16.8,
            -9.7,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.5,
            1.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.5,
            1.1,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 91,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -171,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3620635292237307,
          -0.29277943214400753,
          -0.1284289465364617,
          -1.5263601965180902,
          -0.12037997491473666,
          -0.4888608201338569,
          0.37070824452239054
        ],
        "act_joint_pos_r": [
          -0.4784711059185911,
          -0.2781112364705852,
          0.28333150986404426,
          -1.3236261914336742,
          -0.056740620657429464,
          0.7457180812400159,
          -0.18433173728246127
        ],
        "act_eef_pose_l": [
          458.9710875079824,
          348.29669076978365,
          115.11563144788765,
          1.6681184732525136,
          -0.07675142238443952,
          0.8305648764714185
        ],
        "act_eef_pose_r": [
          450.68866440420345,
          -396.3603481268787,
          104.1473433469198,
          1.7035345706675222,
          0.026918688213075366,
          2.348184945326169
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 5,
      "colors": {
        "rgb_main": "colors/000005_rgb_main.jpg",
        "rgb_wrist_0": "colors/000005_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000005_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000005_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.35979330499347834,
          -0.29197876443949783,
          -0.12853441593040188,
          -1.5220007702017833,
          -0.11725780307345365,
          -0.5020717034026931,
          0.3655327209436946
        ],
        "joint_pos_r": [
          -0.48066061297583573,
          -0.2831135209259301,
          0.27905816062170835,
          -1.3166486345544963,
          -0.0329248903580332,
          0.7517789195231324,
          -0.1941822088679531
        ],
        "eef_pose_l": [
          458.1760128402091,
          348.3081106472583,
          116.4560300170252,
          1.6649455689310837,
          -0.07554101149945859,
          0.8230118853829814
        ],
        "eef_pose_r": [
          451.61030803635316,
          -395.81609079926693,
          104.10407312837673,
          1.6915079617669828,
          0.014352005334316869,
          2.3483885906295336
        ],
        "joint_status_l": {
          "velocity": [
            0.24517698575854396,
            -0.0864695618032485,
            0.011390358604868034,
            -0.4708041565333332,
            -0.33718461412990397,
            1.4267333137847338,
            0.5589400614431916
          ],
          "torque": [
            -17.24853515625,
            5.126953125,
            -13.323974609375,
            -5.40771484375,
            -3.72802734375,
            -0.1904296875,
            0.56671142578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2364597881738817,
            0.5402307879220913,
            0.4615081067183002,
            -0.7535539180665296,
            -2.572023014570851,
            -0.6545512296201039,
            1.0638195555525698
          ],
          "torque": [
            22.33154296875,
            15.85693359375,
            18.804931640625,
            -4.91943359375,
            0.9832763671875,
            -0.281982421875,
            0.5419921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.8,
            -8.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.8,
            -8.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.0,
            0.9,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.0,
            0.9,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 101,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -198,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36327311779674915,
          -0.2917870907856107,
          -0.1287912188559315,
          -1.52747848910349,
          -0.11447240480372275,
          -0.48705907267740417,
          0.36472466339458504
        ],
        "act_joint_pos_r": [
          -0.4787316334999323,
          -0.2928423570011386,
          0.2699896625221957,
          -1.2908901457316746,
          -0.01563873687450723,
          0.793999461954037,
          -0.21676517424204442
        ],
        "act_eef_pose_l": [
          458.6358875079824,
          348.5286907697837,
          114.17723144788788,
          1.671894749426654,
          -0.07549688612495287,
          0.8311582780559149
        ],
        "act_eef_pose_r": [
          450.68146440420344,
          -394.8443481268787,
          103.13934334691976,
          1.6801865024518179,
          0.016122433592434194,
          2.373042681794341
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 6,
      "colors": {
        "rgb_main": "colors/000006_rgb_main.jpg",
        "rgb_wrist_0": "colors/000006_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000006_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000006_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36035369752408714,
          -0.2920545378882181,
          -0.12854432178227573,
          -1.5229734270022293,
          -0.11737824543202698,
          -0.49926046031126925,
          0.36605953140015013
        ],
        "joint_pos_r": [
          -0.480288628922759,
          -0.28308509723028347,
          0.279038432810165,
          -1.3159800406860136,
          -0.03474729005438833,
          0.7535129330250726,
          -0.1943252627347779
        ],
        "eef_pose_l": [
          458.30908438180506,
          348.3247317674817,
          116.10621862612446,
          1.6659045966624413,
          -0.0756719721962136,
          0.8245832612689872
        ],
        "eef_pose_r": [
          451.4478176917584,
          -395.81684135709446,
          104.04233611788702,
          1.692324179310423,
          0.01590412159579575,
          2.349818440312371
        ],
        "joint_status_l": {
          "velocity": [
            0.31528809052217,
            0.028883435210680375,
            -0.02666409753926402,
            -0.4865323574314573,
            0.3138215321856208,
            1.3177110006492576,
            -0.14416149278506651
          ],
          "torque": [
            -16.60400390625,
            8.09326171875,
            -12.24365234375,
            -5.26123046875,
            -1.768798828125,
            -0.3460693359375,
            -0.08697509765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.1681505463300148,
            -1.0537529764693687,
            -0.9772383689958808,
            2.7096287388417295,
            2.063662878943995,
            4.372416166805948,
            -2.4234389672730394
          ],
          "torque": [
            25.9423828125,
            9.41162109375,
            13.19580078125,
            2.032470703125,
            4.6124267578125,
            2.1917724609375,
            0.57586669921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.6,
            -8.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.6,
            -8.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.1,
            0.9,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.1,
            0.9,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 34,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -137,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3644257112944914,
          -0.29130410606279167,
          -0.12894750272235697,
          -1.5274410781851735,
          -0.11459616810010582,
          -0.4868626068951803,
          0.3639272290829431
        ],
        "act_joint_pos_r": [
          -0.47452565698710286,
          -0.2967609272451327,
          0.26718534217407897,
          -1.2873780163037207,
          -0.029163044339915345,
          0.7989906164220002,
          -0.2046674397032692
        ],
        "act_eef_pose_l": [
          458.5070875079824,
          348.80149076978364,
          113.73163144788764,
          1.67272747059128,
          -0.07404240822784831,
          0.8318947696574664
        ],
        "act_eef_pose_r": [
          450.86306440420344,
          -393.47394812687867,
          101.71854334691989,
          1.6876019487624345,
          0.013406429981794131,
          2.3800252109891766
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 7,
      "colors": {
        "rgb_main": "colors/000007_rgb_main.jpg",
        "rgb_wrist_0": "colors/000007_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000007_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000007_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36093685253242425,
          -0.29197918485354185,
          -0.12859705688247053,
          -1.5237677859152927,
          -0.11687166023815589,
          -0.4970917358163087,
          0.3657771767779682
        ],
        "joint_pos_r": [
          -0.4798096279420923,
          -0.2851016331314178,
          0.27720475087696916,
          -1.3110829137450255,
          -0.03172887450307089,
          0.7613855339873741,
          -0.1980360648347222
        ],
        "eef_pose_l": [
          458.36078049414823,
          348.375728394117,
          115.7384481812403,
          1.6670142943057022,
          -0.0755500206244476,
          0.8257879231474571
        ],
        "eef_pose_r": [
          451.31835758933926,
          -395.5646574849968,
          103.78846301640621,
          1.6904415079167818,
          0.01575460142587919,
          2.3545448662405324
        ],
        "joint_status_l": {
          "velocity": [
            0.3767856336049924,
            0.07290635914314336,
            -0.037847034469074003,
            -0.3967038649914656,
            0.24574590302151034,
            1.1047133417037003,
            -0.19978845861734484
          ],
          "torque": [
            -16.46484375,
            8.84765625,
            -12.274169921875,
            -5.438232421875,
            -1.4776611328125,
            -0.59326171875,
            -0.2471923828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5706520326569375,
            -1.2591666271464241,
            -1.082064226133772,
            2.560053418921626,
            0.277101484949388,
            4.061229123389687,
            -0.7161673635756038
          ],
          "torque": [
            27.59033203125,
            6.9140625,
            10.5224609375,
            0.177001953125,
            4.40185546875,
            2.325439453125,
            -0.7470703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -16.9,
            -8.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.1,
            -16.9,
            -8.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.1,
            0.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.1,
            0.0,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 22,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 683,
          "motor_current": 1177,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36633326953724316,
          -0.2886433953457306,
          -0.12975100150563304,
          -1.5253731343136117,
          -0.1114918232284349,
          -0.4877243602888353,
          0.35826811704412787
        ],
        "act_joint_pos_r": [
          -0.4756604929352401,
          -0.3026786519584858,
          0.26334243607462904,
          -1.2846471808707123,
          -0.013448016253964745,
          0.797566447603875,
          -0.22361436256264355
        ],
        "act_eef_pose_l": [
          458.2598875079824,
          350.66149076978365,
          112.94763144788776,
          1.6755876817645803,
          -0.07110168431346589,
          0.8353280906121272
        ],
        "act_eef_pose_r": [
          452.3374644042035,
          -392.0051481268787,
          101.26654334691989,
          1.6795247844886823,
          0.017367449899934106,
          2.3803314920531156
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 8,
      "colors": {
        "rgb_main": "colors/000008_rgb_main.jpg",
        "rgb_wrist_0": "colors/000008_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000008_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000008_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3617256588997227,
          -0.2915679629393576,
          -0.12874533761541446,
          -1.52413830540846,
          -0.11614727690297294,
          -0.4955073574130452,
          0.36483446382455864
        ],
        "joint_pos_r": [
          -0.4790069128330793,
          -0.2873622444205723,
          0.2753342963654856,
          -1.3070272508973302,
          -0.030393867083553315,
          0.7674848760172427,
          -0.20022723355454988
        ],
        "eef_pose_l": [
          458.3586869391988,
          348.6545356218542,
          115.31889839354288,
          1.6682783738528912,
          -0.07496201407513488,
          0.8271752511994215
        ],
        "eef_pose_r": [
          451.3365153290913,
          -395.13253719081723,
          103.40976283367202,
          1.6895442714120905,
          0.015561214827278715,
          2.35876242943863
        ],
        "joint_status_l": {
          "velocity": [
            0.49760727271008776,
            0.3158439847914529,
            -0.10860849690708108,
            -0.13335758858445956,
            0.5027741683186759,
            0.8405388990451179,
            -0.7091445371867344
          ],
          "torque": [
            -17.43896484375,
            11.28662109375,
            -18.292236328125,
            -5.035400390625,
            -1.3055419921875,
            -0.40283203125,
            -0.35430908203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3614026899638745,
            -1.6541232283375784,
            -1.2950827149895705,
            2.4169762779706616,
            1.8300979137428341,
            3.248713915660062,
            -2.525735440289223
          ],
          "torque": [
            28.65966796875,
            5.419921875,
            10.14404296875,
            0.616455078125,
            5.0244140625,
            1.9720458984375,
            -0.7379150390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.5,
            -8.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.5,
            -8.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -17.5,
            0.7,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -17.5,
            0.7,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 43,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 637,
          "motor_current": 1518,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36608040226788174,
          -0.28638678546176055,
          -0.13061702892486435,
          -1.5283574892434115,
          -0.10411078653789199,
          -0.48119134452814966,
          0.3487424599162648
        ],
        "act_joint_pos_r": [
          -0.4695516663940165,
          -0.30734794826125966,
          0.2610255290546795,
          -1.288888082876274,
          -0.02571141941973032,
          0.7979450054481384,
          -0.22313556670616003
        ],
        "act_eef_pose_l": [
          458.19268750798244,
          351.48389076978367,
          112.6572314478879,
          1.679726578977581,
          -0.06934941435636774,
          0.8399393261414927
        ],
        "act_eef_pose_r": [
          452.50066440420346,
          -388.07074812687864,
          101.32574334691981,
          1.683395055894213,
          0.02656106461681432,
          2.392018701186336
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 9,
      "colors": {
        "rgb_main": "colors/000009_rgb_main.jpg",
        "rgb_wrist_0": "colors/000009_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000009_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000009_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36250845642918117,
          -0.2907664929506301,
          -0.12903228570784026,
          -1.524732727071412,
          -0.11439398264061633,
          -0.49330795622890783,
          0.36247303884716514
        ],
        "joint_pos_r": [
          -0.4779321151965801,
          -0.2902812169104847,
          0.27316390091143944,
          -1.3037123052681105,
          -0.028661301146331537,
          0.7724626588605765,
          -0.2040308467001106
        ],
        "eef_pose_l": [
          458.33461781572726,
          349.11038264249845,
          114.85918823781563,
          1.6701061000290744,
          -0.07404161291016637,
          0.8291830370066121
        ],
        "eef_pose_r": [
          451.52189327980284,
          -394.27931101709095,
          103.04810280939842,
          1.6882655574762955,
          0.01659684239454221,
          2.3633273313236174
        ],
        "joint_status_l": {
          "velocity": [
            0.3857587732327694,
            0.4729944585721846,
            -0.1711472197211128,
            -0.39146276899870713,
            1.1105524251013854,
            1.3085554699014956,
            -1.4828587899553547
          ],
          "torque": [
            -17.43896484375,
            12.20947265625,
            -19.586181640625,
            -5.615234375,
            -1.03271484375,
            -0.3094482421875,
            -0.5474853515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.9050617773072034,
            -1.8431526250028973,
            -1.3109054974391743,
            1.6009688002682765,
            0.3185778305220821,
            2.752012265192505,
            -2.0632489083793892
          ],
          "torque": [
            29.765625,
            5.1708984375,
            11.1083984375,
            0.390625,
            4.6710205078125,
            2.2998046875,
            -0.8056640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.7,
            -8.6,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.2,
            -16.7,
            -8.6,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.5,
            0.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.5,
            0.4,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 36,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 514,
          "motor_current": 2411,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3663542469530678,
          -0.28579790312407055,
          -0.13086945103683992,
          -1.5297030739467692,
          -0.10409975570531985,
          -0.47721400888895216,
          0.34937718945279517
        ],
        "act_joint_pos_r": [
          -0.46815448048074737,
          -0.3195564710250517,
          0.2533199375894381,
          -1.2782742756887548,
          -0.022340407177522614,
          0.8049275573188546,
          -0.23281064260208256
        ],
        "act_eef_pose_l": [
          458.3678875079824,
          351.85349076978366,
          112.51803144788782,
          1.6807058287435974,
          -0.07027851498916173,
          0.8428698336657449
        ],
        "act_eef_pose_r": [
          454.33266440420346,
          -385.2163481268787,
          98.18814334691979,
          1.6834612241886806,
          0.02745535259457626,
          2.4008129920846524
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 10,
      "colors": {
        "rgb_main": "colors/000010_rgb_main.jpg",
        "rgb_wrist_0": "colors/000010_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000010_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000010_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3631265690740619,
          -0.28998003831944746,
          -0.12932129412575943,
          -1.5254804606446786,
          -0.1127022284086183,
          -0.49086722799055466,
          0.3602874203789551
        ],
        "joint_pos_r": [
          -0.4763114100137427,
          -0.294513081685852,
          0.270251296502139,
          -1.30003555363765,
          -0.027804438841087395,
          0.7776626729049637,
          -0.2083710551965322
        ],
        "eef_pose_l": [
          458.3328756654558,
          349.5394735362298,
          114.47738913450077,
          1.6718138616870268,
          -0.07335763364765008,
          0.8312687171851282
        ],
        "eef_pose_r": [
          451.88976524088395,
          -392.90329953075036,
          102.41411522071016,
          1.6874306019686356,
          0.018394184013182584,
          2.3692744511569446
        ],
        "joint_status_l": {
          "velocity": [
            0.3485789301467257,
            0.4516572801813723,
            -0.16719601521375527,
            -0.4560287867754198,
            0.9290396513964572,
            1.474504174797442,
            -1.1782701888036762
          ],
          "torque": [
            -17.783203125,
            12.32666015625,
            -21.490478515625,
            -5.615234375,
            -0.9832763671875,
            -0.435791015625,
            -0.5255126953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.8809224081458567,
            -2.704606280535149,
            -1.8285328328786488,
            2.3501487045507474,
            0.59009801565435,
            2.944520672705231,
            -2.639397594928594
          ],
          "torque": [
            28.9306640625,
            5.1416015625,
            10.321044921875,
            -0.079345703125,
            4.59228515625,
            1.966552734375,
            -0.58868408203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.8,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.8,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.0,
            0.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.0,
            0.1,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 72,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 323,
          "motor_current": 3772,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3646909995935486,
          -0.291532539348272,
          -0.12869312738631677,
          -1.522133651008454,
          -0.09867222128455529,
          -0.48024154669611796,
          0.34473008847430064
        ],
        "act_joint_pos_r": [
          -0.46442956225395143,
          -0.3397198376087913,
          0.24086679935876348,
          -1.24861697098653,
          -0.017588183033331095,
          0.8191580828531517,
          -0.2444408320642934
        ],
        "act_eef_pose_l": [
          459.8830875079824,
          351.4702907697837,
          111.37563144788764,
          1.6830354273214458,
          -0.06982060547794441,
          0.8408829010719733
        ],
        "act_eef_pose_r": [
          458.8006644042035,
          -384.49794812687867,
          93.03534334691994,
          1.6851168543271509,
          0.027481357578190438,
          2.405967616739166
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 11,
      "colors": {
        "rgb_main": "colors/000011_rgb_main.jpg",
        "rgb_wrist_0": "colors/000011_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000011_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000011_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36339413841184043,
          -0.28984135285585905,
          -0.1293695268226241,
          -1.5255170947102146,
          -0.11141610824177797,
          -0.48950248977152555,
          0.3587862370784319
        ],
        "joint_pos_r": [
          -0.474448866007793,
          -0.30121625467327784,
          0.2658524426276039,
          -1.2928413627550166,
          -0.026302097717477678,
          0.7840891463633685,
          -0.21400456312768992
        ],
        "eef_pose_l": [
          458.42584505902613,
          349.7763975445672,
          114.18763659687752,
          1.6729624447171902,
          -0.07297351166596415,
          0.8324533615922257
        ],
        "eef_pose_r": [
          452.8462656619913,
          -391.4934403113547,
          101.05537940432622,
          1.6869302516303153,
          0.019886065563572385,
          2.375410736566175
        ],
        "joint_status_l": {
          "velocity": [
            0.14005687686768908,
            -0.18264275442048117,
            0.07304898465665399,
            0.36540114286154335,
            1.3762991996050244,
            1.000152354227346,
            -1.5180192776607093
          ],
          "torque": [
            -17.6513671875,
            8.12255859375,
            -12.078857421875,
            -2.7587890625,
            -0.582275390625,
            -0.1629638671875,
            -0.5511474609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.0820528919710526,
            -4.158264315585303,
            -2.6983698888691787,
            4.776093447651064,
            0.9410750303634752,
            3.787333439467133,
            -3.287020099677518
          ],
          "torque": [
            29.27490234375,
            4.31396484375,
            9.210205078125,
            0.08544921875,
            4.6453857421875,
            2.2613525390625,
            -0.780029296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.4,
            -8.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.4,
            -8.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -16.6,
            0.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.6,
            0.1,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 36,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 71,
          "motor_current": -1173,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36405605461697677,
          -0.29476716640133255,
          -0.1276188644988516,
          -1.5211839030879553,
          -0.09793009869327397,
          -0.4787502592157395,
          0.34416987373926095
        ],
        "act_joint_pos_r": [
          -0.46481467942691695,
          -0.3498082051181149,
          0.23554023106572264,
          -1.233930608689194,
          -0.010513337195187322,
          0.8285913931536164,
          -0.24895846262172247
        ],
        "act_eef_pose_l": [
          460.5718875079824,
          350.5102907697837,
          110.88283144788788,
          1.6836682675311183,
          -0.06930393715061986,
          0.8399506211168793
        ],
        "act_eef_pose_r": [
          460.61986440420344,
          -383.7875481268787,
          90.58254334691992,
          1.6827923315681035,
          0.021801927810243527,
          2.4094937235233114
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 12,
      "colors": {
        "rgb_main": "colors/000012_rgb_main.jpg",
        "rgb_wrist_0": "colors/000012_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000012_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000012_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36358653785523926,
          -0.29032833232884114,
          -0.1291875085301366,
          -1.524863683771501,
          -0.10911975730568227,
          -0.48777841878398637,
          0.3562684378774559
        ],
        "joint_pos_r": [
          -0.4732139837707007,
          -0.3067959312291746,
          0.26231965408371133,
          -1.286209216585388,
          -0.024693846474688672,
          0.7891887521079491,
          -0.21816592304982976
        ],
        "eef_pose_l": [
          458.72452036923414,
          350.0176749682104,
          113.6591019666361,
          1.6747932702784685,
          -0.07237332646276157,
          0.8338763468232204
        ],
        "eef_pose_r": [
          453.74586609599584,
          -390.5921042706208,
          99.84130178677658,
          1.6865511951749002,
          0.02031942218789734,
          2.37949952186026
        ],
        "joint_status_l": {
          "velocity": [
            0.05070631476478127,
            -0.47937994127345007,
            0.1694085589404315,
            0.39740459300041664,
            1.2084474888865993,
            0.9750124769150048,
            -1.3066063906297387
          ],
          "torque": [
            -19.69482421875,
            4.5263671875,
            -11.639404296875,
            -1.35498046875,
            -0.5072021484375,
            -0.2288818359375,
            -0.648193359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.9070981156997782,
            -4.645188577491854,
            -2.8920923882373994,
            5.645923135187303,
            1.5314498344876915,
            4.255359727805441,
            -3.3254961934967575
          ],
          "torque": [
            30.12451171875,
            4.86328125,
            9.820556640625,
            0.0,
            5.09765625,
            1.8731689453125,
            -0.86700439453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.2,
            -9.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.2,
            -16.2,
            -9.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.6,
            -17.9,
            1.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -17.9,
            1.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 101,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -339,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3626893229768037,
          -0.300887119875727,
          -0.1254297461457577,
          -1.5130233017945636,
          -0.09637919988817246,
          -0.48041416740052834,
          0.3415933705088263
        ],
        "act_joint_pos_r": [
          -0.4673035094948026,
          -0.36639766169564425,
          0.22750443864051237,
          -1.2146866492301938,
          -0.0013189999669909191,
          0.8418707520119433,
          -0.2665953095989811
        ],
        "act_eef_pose_l": [
          462.46468750798243,
          350.4054907697837,
          109.82123144788766,
          1.6849209377001837,
          -0.06750585910875244,
          0.8401842879080699
        ],
        "act_eef_pose_r": [
          462.9438644042035,
          -381.06434812687866,
          85.87214334691976,
          1.6806122642096968,
          0.02318176195308512,
          2.4194687595502984
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 13,
      "colors": {
        "rgb_main": "colors/000013_rgb_main.jpg",
        "rgb_wrist_0": "colors/000013_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000013_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000013_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3635579110121891,
          -0.29169305401449613,
          -0.128702962335253,
          -1.5234671885315072,
          -0.10687129665055893,
          -0.48621466805281643,
          0.35376007546003957
        ],
        "joint_pos_r": [
          -0.47190836514960904,
          -0.31559699168286304,
          0.2570054322751539,
          -1.275578396078024,
          -0.021523685427917032,
          0.797112935295422,
          -0.22488195042436593
        ],
        "eef_pose_l": [
          459.23757877789365,
          350.1014164786761,
          113.04101693443029,
          1.6765869493665801,
          -0.07162594697111632,
          0.8350338371280477
        ],
        "eef_pose_r": [
          455.1612330408649,
          -389.2446122214011,
          97.82292688511542,
          1.6857798691551213,
          0.020483153607570897,
          2.3855137391713472
        ],
        "joint_status_l": {
          "velocity": [
            -0.09380474119868865,
            -0.9929298281132759,
            0.35349692263109134,
            1.127906501766418,
            1.1331130309554238,
            0.6264355947167566,
            -1.3139653813936114
          ],
          "torque": [
            -22.646484375,
            3.88916015625,
            -8.526611328125,
            -0.32958984375,
            -0.567626953125,
            -0.135498046875,
            -0.61431884765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.497309743352492,
            -5.486310551300111,
            -3.18601334610058,
            6.576114707430136,
            2.1820416739009585,
            4.833701642974475,
            -4.504909925642231
          ],
          "torque": [
            28.5498046875,
            7.05322265625,
            10.498046875,
            -0.018310546875,
            5.181884765625,
            2.18994140625,
            -0.84503173828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.6,
            -9.7,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.6,
            -9.7,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.3,
            2.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.3,
            2.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 28,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 251,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3577891065210104,
          -0.30669281425376055,
          -0.12344857520763684,
          -1.5054303465409014,
          -0.08846443181434226,
          -0.4835465153070088,
          0.33469348758965733
        ],
        "act_joint_pos_r": [
          -0.47686528579211807,
          -0.3814258460608701,
          0.22124512168666952,
          -1.1993232012119242,
          0.025447464868009195,
          0.8421588557786054,
          -0.3054233699692678
        ],
        "act_eef_pose_l": [
          464.2838875079824,
          349.9294907697837,
          110.03563144788795,
          1.6858067224029076,
          -0.06920101706131039,
          0.8378680290298203
        ],
        "act_eef_pose_r": [
          466.22146440420346,
          -379.6627481268787,
          80.83774334691998,
          1.6716855911501185,
          0.031612218431720136,
          2.4162773358749376
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 14,
      "colors": {
        "rgb_main": "colors/000014_rgb_main.jpg",
        "rgb_wrist_0": "colors/000014_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000014_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000014_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3629728563699136,
          -0.2939297004154758,
          -0.1279140485407887,
          -1.5208407792081589,
          -0.10420813467448191,
          -0.4853871827414869,
          0.350867514726163
        ],
        "joint_pos_r": [
          -0.4718036232983875,
          -0.3271029067924362,
          0.2505356649519724,
          -1.262014531540871,
          -0.015161983789946492,
          0.8061377642612703,
          -0.23660462466988033
        ],
        "eef_pose_l": [
          460.0048209530415,
          350.1198798270442,
          112.44831789269094,
          1.6782387080167132,
          -0.07098119565626214,
          0.8357988885867236
        ],
        "eef_pose_r": [
          457.05476415920464,
          -387.5466938064413,
          94.94170740763796,
          1.6840695517499833,
          0.021441141350676964,
          2.3921505091765694
        ],
        "joint_status_l": {
          "velocity": [
            -0.5598284724235292,
            -1.3783756415182147,
            0.48225689657355186,
            1.6642776428188455,
            1.700269762119011,
            0.1987862200376611,
            -1.7467434132996118
          ],
          "torque": [
            -25.62744140625,
            2.80517578125,
            -8.148193359375,
            0.62255859375,
            -0.3570556640625,
            -0.2947998046875,
            -0.63995361328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.546643426936555,
            -5.866704411793489,
            -3.163285376537761,
            6.77046399136394,
            4.385691106014278,
            3.8901631496433,
            -7.432205291155958
          ],
          "torque": [
            21.298828125,
            4.59228515625,
            9.857177734375,
            0.3173828125,
            4.7149658203125,
            2.2027587890625,
            -0.94940185546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.7,
            -10.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.7,
            -10.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.8,
            -16.9,
            0.2,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.9,
            0.2,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 28,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -40,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3542947663782817,
          -0.31126610920009834,
          -0.12194227913219878,
          -1.4990195739965173,
          -0.08200581330914404,
          -0.4866518867685338,
          0.3305314350900674
        ],
        "act_joint_pos_r": [
          -0.4844266724271078,
          -0.40173013472198016,
          0.21315871691222688,
          -1.173024209815806,
          0.0560005596024129,
          0.8473370554309366,
          -0.3327523267033792
        ],
        "act_eef_pose_l": [
          465.6726875079824,
          349.6142907697837,
          110.04763144788767,
          1.6868066313428651,
          -0.07176986408683679,
          0.8356442269290768
        ],
        "act_eef_pose_r": [
          471.22226440420343,
          -379.10354812687865,
          75.62574334691976,
          1.6602037624463781,
          0.0263823591433614,
          2.4092935171629954
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 15,
      "colors": {
        "rgb_main": "colors/000015_rgb_main.jpg",
        "rgb_wrist_0": "colors/000015_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000015_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000015_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3618532704617145,
          -0.29645207942850443,
          -0.12703698477288736,
          -1.517743556541614,
          -0.10104920671753227,
          -0.4852421897332878,
          0.3477659547767682
        ],
        "joint_pos_r": [
          -0.47324375697837506,
          -0.33817163386257526,
          0.244773806733862,
          -1.2490339740291185,
          -0.005778960310510379,
          0.8128799533195381,
          -0.25074282296329814
        ],
        "eef_pose_l": [
          460.8422651970954,
          350.07077886469403,
          112.01930170202871,
          1.6796276837458268,
          -0.07080712817558703,
          0.8360273121238543
        ],
        "eef_pose_r": [
          459.0826857666688,
          -386.1727174155102,
          92.04544329019232,
          1.6811319116023151,
          0.022482071815316296,
          2.3961347662994408
        ],
        "joint_status_l": {
          "velocity": [
            -0.8162943656953026,
            -1.5998680297464318,
            0.5502119815594675,
            2.022130475321404,
            2.0566258311693897,
            -0.1522427896452072,
            -1.8612732308440627
          ],
          "torque": [
            -29.1064453125,
            1.5380859375,
            -8.5205078125,
            1.318359375,
            -0.43212890625,
            -1.6534423828125,
            -0.60150146484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.2077192486876775,
            -6.864115646545876,
            -3.414329000485772,
            8.208812429057133,
            6.671991370728915,
            3.7212572754139472,
            -8.856765187602367
          ],
          "torque": [
            19.24072265625,
            6.328125,
            9.552001953125,
            0.03662109375,
            5.3045654296875,
            2.1697998046875,
            -1.109619140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -17.1,
            -10.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -17.1,
            -10.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -16.2,
            0.4,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.2,
            0.4,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -1,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -213,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35212296038925744,
          -0.31425475716087997,
          -0.1210635047043688,
          -1.4968688753984105,
          -0.07617666713933303,
          -0.4877457129539346,
          0.32494309579225644
        ],
        "act_joint_pos_r": [
          -0.4851269519487098,
          -0.40934306517150215,
          0.2108328223086067,
          -1.1639110861023194,
          0.053371878193747335,
          0.847034596716811,
          -0.34658254696650986
        ],
        "act_eef_pose_l": [
          466.2878875079824,
          348.7630907697837,
          109.97083144788785,
          1.6880528024758914,
          -0.0717512998967376,
          0.8330611455927428
        ],
        "act_eef_pose_r": [
          473.0678644042034,
          -378.64114812687865,
          72.81134334692001,
          1.6645165595815,
          0.03908313318023787,
          2.4096240784361664
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 16,
      "colors": {
        "rgb_main": "colors/000016_rgb_main.jpg",
        "rgb_wrist_0": "colors/000016_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000016_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000016_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36042150626983926,
          -0.29920254650424594,
          -0.12609761378130896,
          -1.5143385686484203,
          -0.09742623531041303,
          -0.48553946246549684,
          0.34447338051824494
        ],
        "joint_pos_r": [
          -0.4751028271675365,
          -0.3488448581305338,
          0.2395078434427798,
          -1.2362695798638836,
          0.0042997855794327956,
          0.8185356207885556,
          -0.2646326521551156
        ],
        "eef_pose_l": [
          461.72324985653677,
          349.9560452429535,
          111.66413763439567,
          1.6809368889177523,
          -0.0709697508415586,
          0.8358385801430911
        ],
        "eef_pose_r": [
          461.17809350319203,
          -385.0527393190691,
          89.24872565955337,
          1.6778585154225953,
          0.023119107029802795,
          2.3985563173868547
        ],
        "joint_status_l": {
          "velocity": [
            -0.8962165226096275,
            -1.6255908066784563,
            0.5436677456865935,
            1.8866712266074614,
            2.294885678441605,
            -0.2382680254111591,
            -2.1092085426261953
          ],
          "torque": [
            -29.619140625,
            4.07958984375,
            -9.2529296875,
            -0.390625,
            -0.457763671875,
            -2.259521484375,
            -0.6243896484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.0825735475665788,
            -6.53361366178995,
            -3.0968109469342586,
            7.814486850280744,
            5.299629698123112,
            3.0777986254335588,
            -8.850327613170395
          ],
          "torque": [
            20.15625,
            5.33935546875,
            10.53466796875,
            0.250244140625,
            5.4766845703125,
            2.27783203125,
            -0.91827392578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.8,
            -9.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -16.8,
            -9.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.4,
            -17.9,
            0.6,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -17.9,
            0.6,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -9,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -158,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34893744650698605,
          -0.3167786814801814,
          -0.1202108263773386,
          -1.4910083494224862,
          -0.06493448371185322,
          -0.4938057662384519,
          0.3128736877462266
        ],
        "act_joint_pos_r": [
          -0.49183019823811147,
          -0.41789793792734115,
          0.20856770161628208,
          -1.1597124436683532,
          0.06419870639010217,
          0.8437749049951858,
          -0.3596702579563045
        ],
        "act_eef_pose_l": [
          466.8750875079824,
          348.7310907697837,
          109.92443144788767,
          1.6905996624342507,
          -0.07074030084328596,
          0.8292457857548118
        ],
        "act_eef_pose_r": [
          474.4718644042035,
          -376.5851481268787,
          69.20814334691977,
          1.6624620803755061,
          0.03738501365383709,
          2.408491851448802
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 17,
      "colors": {
        "rgb_main": "colors/000017_rgb_main.jpg",
        "rgb_wrist_0": "colors/000017_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000017_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000017_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.35874041624449365,
          -0.30192810238175094,
          -0.12518521790382003,
          -1.5108837141464428,
          -0.09281469934964692,
          -0.4865049241855654,
          0.3400622066731971
        ],
        "joint_pos_r": [
          -0.47754191645322175,
          -0.36039236189663026,
          0.23421255794671766,
          -1.2230583710288148,
          0.014053036764405976,
          0.8232502534249225,
          -0.280423854337318
        ],
        "eef_pose_l": [
          462.53182985607026,
          349.7585882840012,
          111.38058660685178,
          1.682323467142177,
          -0.07099760880275986,
          0.8349875422086495
        ],
        "eef_pose_r": [
          463.48046360600824,
          -383.7843883177304,
          85.98860323519955,
          1.6752691593004,
          0.02543864804397041,
          2.400623118058445
        ],
        "joint_status_l": {
          "velocity": [
            -1.0586895072730584,
            -1.603815240628581,
            0.5372184404490721,
            2.1464760832614616,
            3.0109744849362574,
            -0.7884676871001695,
            -2.936273443356896
          ],
          "torque": [
            -30.02197265625,
            2.9150390625,
            -9.02099609375,
            -0.5615234375,
            -0.465087890625,
            -2.21923828125,
            -0.72509765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.54308892179289,
            -6.210419044797799,
            -2.769562799798564,
            6.841158385748614,
            5.415572595799348,
            2.21659699455401,
            -8.558359175539376
          ],
          "torque": [
            19.10888671875,
            5.2001953125,
            9.53369140625,
            0.115966796875,
            5.25146484375,
            2.49755859375,
            -0.860595703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.8,
            -8.0,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.6,
            -16.8,
            -8.0,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.7,
            -17.3,
            1.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -17.3,
            1.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -43,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -207,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3477832791056611,
          -0.32027198842498145,
          -0.11916338883797106,
          -1.486605129893843,
          -0.06363316988080255,
          -0.49454919860900304,
          0.31161631556878266
        ],
        "act_joint_pos_r": [
          -0.5008421979087454,
          -0.42874518600872885,
          0.20560357782575622,
          -1.1527030533327656,
          0.08587714563126571,
          0.8385946542559485,
          -0.38165139825371674
        ],
        "act_eef_pose_l": [
          467.9806875079824,
          348.58309076978367,
          109.55083144788777,
          1.6911187671972958,
          -0.07062068297107331,
          0.8292435353952043
        ],
        "act_eef_pose_r": [
          476.84306440420346,
          -374.9219481268787,
          65.23374334691971,
          1.655703157632497,
          0.035372756490490605,
          2.402221563023665
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 18,
      "colors": {
        "rgb_main": "colors/000018_rgb_main.jpg",
        "rgb_wrist_0": "colors/000018_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000018_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000018_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.35702972707948455,
          -0.3046694939930887,
          -0.12427749106356129,
          -1.5072381225888554,
          -0.08811955746775732,
          -0.48776899889762054,
          0.3354845504713557
        ],
        "joint_pos_r": [
          -0.48066484667116444,
          -0.370777635622091,
          0.22974208684905031,
          -1.2120425884896098,
          0.024158622352532792,
          0.8261795001405752,
          -0.2953394626173892
        ],
        "eef_pose_l": [
          463.34092446253027,
          349.57897929768706,
          111.10922809080843,
          1.6836878343735624,
          -0.0709469057702774,
          0.8340292376747231
        ],
        "eef_pose_r": [
          465.5498325692258,
          -382.50903182101956,
          82.91423329760687,
          1.672505162732333,
          0.026965889017177263,
          2.4016374836799628
        ],
        "joint_status_l": {
          "velocity": [
            -0.9985869294260041,
            -1.6850197016444746,
            0.5523067509468627,
            2.228297490939113,
            2.6444518654524796,
            -0.7322399725655515,
            -2.5776933444765504
          ],
          "torque": [
            -31.1865234375,
            2.578125,
            -9.65576171875,
            0.811767578125,
            -0.6976318359375,
            -2.26318359375,
            -0.65643310546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.179089664844369,
            -6.260310803759328,
            -2.6068820886384625,
            6.408480788900661,
            6.665403928522551,
            1.3407970997629803,
            -9.321414128308891
          ],
          "torque": [
            18.27392578125,
            4.68017578125,
            10.357666015625,
            0.042724609375,
            5.1123046875,
            1.959228515625,
            -1.07208251953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.9,
            -9.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.9,
            -9.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.2,
            -17.2,
            0.6,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -17.2,
            0.6,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -62,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -196,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34931573778310154,
          -0.32532103621117225,
          -0.11769960896893517,
          -1.4810993943577313,
          -0.07416144742851905,
          -0.4934707161233902,
          0.3219830268081629
        ],
        "act_joint_pos_r": [
          -0.5137617385444839,
          -0.44440858477710005,
          0.2011556769224789,
          -1.142069443386323,
          0.11109512388101138,
          0.8360921911794214,
          -0.4033082773583132
        ],
        "act_eef_pose_l": [
          469.6422875079824,
          348.48709076978366,
          108.62923144788765,
          1.688857122999252,
          -0.06991058455851933,
          0.8319619733140303
        ],
        "act_eef_pose_r": [
          479.28466440420345,
          -371.9107481268787,
          58.78094334691991,
          1.6492044185090937,
          0.025967186628017613,
          2.3980350487826008
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 19,
      "colors": {
        "rgb_main": "colors/000019_rgb_main.jpg",
        "rgb_wrist_0": "colors/000019_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000019_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000019_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3554547325265869,
          -0.30818869277383026,
          -0.12314555906367447,
          -1.50271643917515,
          -0.08467876284466311,
          -0.4889290090379469,
          0.3321423780277461
        ],
        "joint_pos_r": [
          -0.48551741673029325,
          -0.38258474899807493,
          0.22503178415619374,
          -1.2004931856372973,
          0.03757928745615768,
          0.828125695764739,
          -0.3127542443335626
        ],
        "eef_pose_l": [
          464.4071141877771,
          349.3868253506211,
          110.70851124295213,
          1.6848089920476375,
          -0.07079874161855838,
          0.8334285356335958
        ],
        "eef_pose_r": [
          467.86980521153026,
          -380.9115150259733,
          79.20622194144238,
          1.6687171315742495,
          0.027248306307970357,
          2.4017171478237422
        ],
        "joint_status_l": {
          "velocity": [
            -0.6629918783964683,
            -1.8502385213645667,
            0.5881452638145657,
            2.334571985761258,
            1.135836565234749,
            -0.4904898990014672,
            -1.0971775721921873
          ],
          "torque": [
            -31.5966796875,
            1.962890625,
            -9.9853515625,
            0.09765625,
            -0.6939697265625,
            -2.6678466796875,
            -0.6500244140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.050296792237006,
            -6.676777343113116,
            -2.578543531164934,
            6.309578072047017,
            7.939476171551441,
            0.8603561299382889,
            -9.779547134348032
          ],
          "torque": [
            18.20068359375,
            6.30615234375,
            9.1796875,
            0.4150390625,
            4.6563720703125,
            2.2100830078125,
            -0.69305419921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.7,
            -9.0,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.3,
            -16.7,
            -9.0,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -16.0,
            1.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.0,
            1.0,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -38,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -183,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3486678469508276,
          -0.33073076001049323,
          -0.11615617076493057,
          -1.4740298921075752,
          -0.08136067866989104,
          -0.4949194269730677,
          0.3300293219131842
        ],
        "act_joint_pos_r": [
          -0.5139379511545581,
          -0.46269759111479547,
          0.19557562870966833,
          -1.116503521490413,
          0.10493870519828441,
          0.8428978709905565,
          -0.41064430106229527
        ],
        "act_eef_pose_l": [
          471.45988750798244,
          348.3902907697837,
          108.40523144788772,
          1.6861850698796794,
          -0.07106024877961258,
          0.8330258917457773
        ],
        "act_eef_pose_r": [
          483.1110644042035,
          -370.8043481268787,
          52.88654334691978,
          1.6571009150420704,
          0.03227905344790236,
          2.400273149622409
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 20,
      "colors": {
        "rgb_main": "colors/000020_rgb_main.jpg",
        "rgb_wrist_0": "colors/000020_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000020_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000020_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3546343718086618,
          -0.3107377906490255,
          -0.12234796649069393,
          -1.499482498604897,
          -0.0838724298620662,
          -0.4896058173467491,
          0.3314422310933923
        ],
        "joint_pos_r": [
          -0.4905311346050571,
          -0.39557950602665015,
          0.22018061927662602,
          -1.187278446032397,
          0.049882797716936385,
          0.8303022112527327,
          -0.32959277628540584
        ],
        "eef_pose_l": [
          465.1998900027575,
          349.27393261488254,
          110.42769715813462,
          1.6851152200155448,
          -0.07075977648931157,
          0.8333248021271062
        ],
        "eef_pose_r": [
          470.42742024630974,
          -379.27403490854556,
          74.99142127621695,
          1.6659744588732532,
          0.02742879299904916,
          2.4016184004172265
        ],
        "joint_status_l": {
          "velocity": [
            -0.6443656800962927,
            -2.159177009516622,
            0.6686942163007803,
            2.7488004301758906,
            0.27126112833564253,
            -0.5738529147554239,
            -0.15258969107012632
          ],
          "torque": [
            -30.6005859375,
            4.189453125,
            -10.400390625,
            0.421142578125,
            -0.64453125,
            -2.252197265625,
            -0.58502197265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.5278616320525416,
            -7.2485394052774765,
            -2.6572606095192075,
            7.64346641854452,
            5.945862644140821,
            1.3602911320420574,
            -8.753306510928649
          ],
          "torque": [
            17.62939453125,
            5.99853515625,
            9.429931640625,
            -0.543212890625,
            4.5831298828125,
            2.5653076171875,
            -0.7708740234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.2,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.2,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -15.9,
            0.0,
            0.9,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -15.9,
            0.0,
            0.9,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -87,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -175,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3485509242729271,
          -0.33536873116516236,
          -0.11490254956894337,
          -1.4690025485331217,
          -0.09120508439980486,
          -0.4933781274434841,
          0.3417704225366276
        ],
        "act_joint_pos_r": [
          -0.5144319162679154,
          -0.472127262216226,
          0.1937178110936932,
          -1.111987886640329,
          0.10414470458725099,
          0.8341101942109865,
          -0.42273808038519095
        ],
        "act_eef_pose_l": [
          473.23028750798244,
          348.37749076978366,
          108.28923144788773,
          1.6830247165760646,
          -0.07360568169498632,
          0.8359722671919083
        ],
        "act_eef_pose_r": [
          485.7278644042035,
          -368.7635481268787,
          50.148143346919824,
          1.6608930827409278,
          0.042038147104827873,
          2.3979941438383956
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 21,
      "colors": {
        "rgb_main": "colors/000021_rgb_main.jpg",
        "rgb_wrist_0": "colors/000021_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000021_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000021_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3535726457016103,
          -0.3145422272204158,
          -0.12118035729358964,
          -1.4946901259411118,
          -0.08400038743769134,
          -0.49045574361548344,
          0.33187468970758666
        ],
        "joint_pos_r": [
          -0.4953001233849756,
          -0.41026422855124034,
          0.21499882172892654,
          -1.1724776665513352,
          0.06085360355240322,
          0.8317275599389578,
          -0.3474150273672053
        ],
        "eef_pose_l": [
          466.41259536917164,
          349.1280975188686,
          110.05941231711577,
          1.6851086420343724,
          -0.07094368405273732,
          0.833449164708876
        ],
        "eef_pose_r": [
          473.4272688627156,
          -377.4212629791649,
          70.26225840513698,
          1.6644485972731833,
          0.0293518139411392,
          2.401228322298249
        ],
        "joint_status_l": {
          "velocity": [
            -0.5423299191318343,
            -2.2491960895396623,
            0.6779832382151074,
            2.774176540098594,
            -0.7780843235377644,
            -0.31560814505926515,
            1.0687076256896688
          ],
          "torque": [
            -32.0068359375,
            2.70263671875,
            -10.565185546875,
            1.52587890625,
            -2.3291015625,
            -2.259521484375,
            -0.74432373046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.0661726928508095,
            -6.68101058994397,
            -2.2982813644196742,
            6.532703558596253,
            4.675301021130728,
            0.2573169122221941,
            -8.134649807271188
          ],
          "torque": [
            20.1708984375,
            5.6982421875,
            9.478759765625,
            -0.146484375,
            4.9346923828125,
            2.61474609375,
            -0.8038330078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -17.1,
            -9.6,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.7,
            -17.1,
            -9.6,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -16.8,
            -0.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -16.8,
            -0.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -112,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -169,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34897774723060687,
          -0.33716382794461136,
          -0.11446911537645763,
          -1.4670609492586297,
          -0.09281336288246485,
          -0.49353500672645756,
          0.3434090577643174
        ],
        "act_joint_pos_r": [
          -0.5145041135419648,
          -0.47750927661511333,
          0.19298537026140702,
          -1.109888233051252,
          0.1075040802459819,
          0.830196367598323,
          -0.42601474388569155
        ],
        "act_eef_pose_l": [
          473.7174875079824,
          348.23189076978366,
          107.87803144788772,
          1.6829144270086756,
          -0.07321730643274847,
          0.8361543847894716
        ],
        "act_eef_pose_r": [
          487.2630644042035,
          -367.3891481268787,
          49.460943346919976,
          1.6594486706581904,
          0.0416704794024912,
          2.3963645388724513
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 22,
      "colors": {
        "rgb_main": "colors/000022_rgb_main.jpg",
        "rgb_wrist_0": "colors/000022_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000022_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000022_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3525995154648748,
          -0.3188842792800339,
          -0.1198807641609009,
          -1.4893580068462824,
          -0.08558726576138752,
          -0.4910568622254003,
          0.3340052997497608
        ],
        "joint_pos_r": [
          -0.49892677739895586,
          -0.422706761760366,
          0.2108741088219509,
          -1.1607509932432498,
          0.06950419630036711,
          0.831633925339943,
          -0.36210934936482736
        ],
        "eef_pose_l": [
          467.8286529759247,
          348.97648799438707,
          109.66439783110408,
          1.684669759952032,
          -0.07142479402789667,
          0.8339755880837809
        ],
        "eef_pose_r": [
          476.05597479066734,
          -375.68068949529857,
          66.41312906197274,
          1.6633749114797423,
          0.03152168522541461,
          2.4004839857684175
        ],
        "joint_status_l": {
          "velocity": [
            -0.3911394332600793,
            -1.9741330318328032,
            0.5844408315589522,
            2.40801119897327,
            -0.7803954725421614,
            -0.2676317127385808,
            1.0155759127616903
          ],
          "torque": [
            -31.19384765625,
            2.46826171875,
            -10.174560546875,
            0.860595703125,
            -3.3306884765625,
            -2.3968505859375,
            0.589599609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.6823026865790958,
            -5.918497047572746,
            -1.9319267854041033,
            5.493016092886549,
            4.103866429055969,
            -0.15525165719232348,
            -6.901579057059681
          ],
          "torque": [
            19.716796875,
            5.91796875,
            10.406494140625,
            -0.250244140625,
            4.954833984375,
            1.3494873046875,
            -0.9173583984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.8,
            -8.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.8,
            -8.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.6,
            0.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.6,
            0.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -110,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -213,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35058671747151443,
          -0.3419772425163778,
          -0.11322189992385959,
          -1.4613848456914935,
          -0.09415993075076567,
          -0.49421204540006014,
          0.34516664559586513
        ],
        "act_joint_pos_r": [
          -0.5088656106786953,
          -0.4903669963519314,
          0.19009070544422385,
          -1.101084954104964,
          0.09412446086737702,
          0.8271341100065654,
          -0.4203912640193547
        ],
        "act_eef_pose_l": [
          474.9382875079824,
          347.93749076978366,
          106.23083144788761,
          1.6844238275401158,
          -0.07180630371155348,
          0.8363434086884777
        ],
        "act_eef_pose_r": [
          490.3742644042035,
          -363.96034812687867,
          47.448943346919805,
          1.666600384878425,
          0.04517796267040552,
          2.401403590582963
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 23,
      "colors": {
        "rgb_main": "colors/000023_rgb_main.jpg",
        "rgb_wrist_0": "colors/000023_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000023_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000023_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3520515617305643,
          -0.32203129805066877,
          -0.11895433431167167,
          -1.4855250878931379,
          -0.08681491232949273,
          -0.4914842233011018,
          0.33560306447409266
        ],
        "joint_pos_r": [
          -0.5003924192352062,
          -0.42834870895610155,
          0.2090518010010185,
          -1.155561144054823,
          0.07308510560197762,
          0.8314454479323059,
          -0.368382174498936
        ],
        "eef_pose_l": [
          468.83523856528495,
          348.85336639212665,
          109.32042168507871,
          1.684418721822262,
          -0.0716636920449892,
          0.8343414565476523
        ],
        "eef_pose_r": [
          477.25483105940094,
          -374.8446338187068,
          64.7153276520211,
          1.663006097078861,
          0.032511626645992296,
          2.4001759798082913
        ],
        "joint_status_l": {
          "velocity": [
            -0.15819851416187802,
            -2.1540984705583632,
            0.6190846549578577,
            2.6070692663786588,
            -0.7932385941756825,
            -0.2945960980400564,
            1.0328362992728657
          ],
          "torque": [
            -31.41357421875,
            4.84130859375,
            -10.321044921875,
            -0.128173828125,
            -3.58154296875,
            -2.52685546875,
            0.6976318359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.915077687122956,
            -6.697777498361646,
            -2.0477379253320827,
            5.883254997254284,
            2.2721833541972103,
            -0.4656107635252482,
            -5.616816009072156
          ],
          "torque": [
            20.44921875,
            6.181640625,
            10.614013671875,
            -0.45166015625,
            4.9658203125,
            1.26708984375,
            -0.758056640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.7,
            -8.8,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -16.7,
            -8.8,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.9,
            -17.5,
            0.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -17.5,
            0.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -49,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -255,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35451768097619646,
          -0.3465028640427887,
          -0.11197295950534188,
          -1.4530867266369785,
          -0.10207739152866944,
          -0.4988087349436927,
          0.35170873394841207
        ],
        "act_joint_pos_r": [
          -0.5040846970160224,
          -0.5082357869937213,
          0.1859229552739845,
          -1.089690434502697,
          0.0843450982479812,
          0.8253196508242654,
          -0.42514026447251074
        ],
        "act_eef_pose_l": [
          475.9966875079824,
          348.2622907697837,
          104.15483144788782,
          1.6841317906440314,
          -0.06805485747289261,
          0.8366946083150616
        ],
        "act_eef_pose_r": [
          494.1214644042035,
          -358.73314812687863,
          44.63614334691988,
          1.6716303226968219,
          0.05435100830673946,
          2.4095918949019395
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 24,
      "colors": {
        "rgb_main": "colors/000024_rgb_main.jpg",
        "rgb_wrist_0": "colors/000024_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000024_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000024_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.35194724801379407,
          -0.32600052684607594,
          -0.11781585463907523,
          -1.4805973428811445,
          -0.0885510237959682,
          -0.49220170890901505,
          0.33769817830400517
        ],
        "joint_pos_r": [
          -0.5018531788183181,
          -0.440599410383643,
          0.20534454511960856,
          -1.1449271031013177,
          0.07677393325764369,
          0.8305769373211916,
          -0.3783538675328451
        ],
        "eef_pose_l": [
          470.04007702548176,
          348.7048262338657,
          108.64553543417334,
          1.684399401288183,
          -0.0715051835112045,
          0.8347361265745467
        ],
        "eef_pose_r": [
          479.9196273893513,
          -372.7368818414481,
          61.37943815259351,
          1.663697220424845,
          0.035042987856843226,
          2.4005880073899566
        ],
        "joint_status_l": {
          "velocity": [
            0.2775985726071184,
            -2.214187113286581,
            0.6310140636782702,
            2.971058927672132,
            -1.4608046310021772,
            -0.7135377670737242,
            1.5130953832329652
          ],
          "torque": [
            -29.65576171875,
            4.06494140625,
            -9.820556640625,
            0.689697265625,
            -3.6199951171875,
            -2.54150390625,
            0.59600830078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.24099685752920763,
            -7.3045132387861145,
            -2.0974698417612903,
            5.965384269046581,
            0.8176617033135436,
            -0.567770196181705,
            -5.052781845649168
          ],
          "torque": [
            19.9072265625,
            7.44873046875,
            10.107421875,
            -0.3662109375,
            4.976806640625,
            0.91552734375,
            -0.7525634765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.5,
            -9.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.5,
            -9.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.4,
            -17.7,
            0.6,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -17.7,
            0.6,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -131,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -173,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35740235950628274,
          -0.3502159018846449,
          -0.11113187183226456,
          -1.4509192140924354,
          -0.10745906762147729,
          -0.5000155644082012,
          0.35518720700651363
        ],
        "act_joint_pos_r": [
          -0.5013126743735117,
          -0.5257588953629512,
          0.18216716374378986,
          -1.075046799885197,
          0.07931039456841306,
          0.828213108400862,
          -0.4325172102251942
        ],
        "act_eef_pose_l": [
          476.38148750798246,
          347.1502907697837,
          102.71883144788767,
          1.6837726652868572,
          -0.06391277965071666,
          0.834949903629457
        ],
        "act_eef_pose_r": [
          497.5190644042035,
          -354.2987481268787,
          41.78894334691995,
          1.6738743030731174,
          0.0620230076961473,
          2.417348109768221
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 25,
      "colors": {
        "rgb_main": "colors/000025_rgb_main.jpg",
        "rgb_wrist_0": "colors/000025_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000025_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000025_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3526629423772826,
          -0.32953167056686133,
          -0.1168340211593231,
          -1.4761767782743924,
          -0.09121154348007457,
          -0.49334080504130057,
          0.34021743253025777
        ],
        "joint_pos_r": [
          -0.5020702015772571,
          -0.45163566423535734,
          0.20223153829320287,
          -1.1358994925763068,
          0.07770214100182592,
          0.8299059496251592,
          -0.3857797110367772
        ],
        "eef_pose_l": [
          470.9939729066253,
          348.5212551393903,
          107.80467515589902,
          1.6843191384263823,
          -0.07048920280011099,
          0.834826576986414
        ],
        "eef_pose_r": [
          482.29332671516784,
          -370.52913254352393,
          58.700504308416384,
          1.6648956029786677,
          0.038185781920354794,
          2.402186184480643
        ],
        "joint_status_l": {
          "velocity": [
            0.5118419539607011,
            -2.233831098993999,
            0.6158139648604344,
            2.7277364813649285,
            -1.754680855725943,
            -0.7208527512094776,
            1.6166879617727226
          ],
          "torque": [
            -19.51904296875,
            3.046875,
            -11.383056640625,
            0.09765625,
            -3.93310546875,
            -2.7154541015625,
            0.60791015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.08181052513256404,
            -8.005072864775808,
            -2.166888542375345,
            6.5718969828996165,
            0.17368626258884579,
            -0.18282146019377166,
            -5.047501044263214
          ],
          "torque": [
            21.0205078125,
            6.650390625,
            9.41162109375,
            -0.1708984375,
            4.830322265625,
            0.8660888671875,
            -0.7745361328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -17.4,
            -8.4,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -17.4,
            -8.4,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.8,
            -17.4,
            0.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -17.4,
            0.6,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -124,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -213,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3602539306180019,
          -0.3497009690239093,
          -0.11122321706199986,
          -1.4483195953340546,
          -0.11342882020604539,
          -0.502158248815098,
          0.3601681645349446
        ],
        "act_joint_pos_r": [
          -0.49719216873450683,
          -0.5476368775053713,
          0.17714405474732237,
          -1.044543048072562,
          0.07768423925702006,
          0.841662928615375,
          -0.4374042523661426
        ],
        "act_eef_pose_l": [
          476.3510875079824,
          348.1478907697837,
          101.9420314478878,
          1.6830705089141864,
          -0.062226226863908225,
          0.8368176383493987
        ],
        "act_eef_pose_r": [
          502.33266440420346,
          -351.89314812687866,
          38.82734334691986,
          1.6736562759742595,
          0.06576508285150325,
          2.422697902956789
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 26,
      "colors": {
        "rgb_main": "colors/000026_rgb_main.jpg",
        "rgb_wrist_0": "colors/000026_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000026_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000026_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3538226905050303,
          -0.3331307100780452,
          -0.11583614087403481,
          -1.4714176802668186,
          -0.09475788607710489,
          -0.49476274516991897,
          0.34342627981865237
        ],
        "joint_pos_r": [
          -0.5014620313575571,
          -0.46811647661178524,
          0.1978718057341838,
          -1.12095394782064,
          0.07782266060195808,
          0.8311036555508937,
          -0.39516629899888517
        ],
        "eef_pose_l": [
          471.949350218785,
          348.3977270691807,
          106.82103466798955,
          1.6841491091003733,
          -0.06910891302759119,
          0.8350416033735157
        ],
        "eef_pose_r": [
          485.81878270916224,
          -367.379928987365,
          55.12831240137797,
          1.6664163229018152,
          0.04290881045028475,
          2.405478086562503
        ],
        "joint_status_l": {
          "velocity": [
            0.6945534474422921,
            -1.7895351866341613,
            0.4981810786343077,
            2.4945196008161474,
            -2.0164014153447596,
            -0.7986908375521296,
            1.8080702231784151
          ],
          "torque": [
            -17.9296875,
            3.11279296875,
            -11.273193359375,
            0.03662109375,
            -3.6639404296875,
            -2.8436279296875,
            0.54107666015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.4611315629414747,
            -8.587950008460687,
            -2.2385310846360085,
            8.25213378911549,
            -0.014949064354174979,
            1.1403678576114018,
            -4.561564427512543
          ],
          "torque": [
            28.5791015625,
            4.68017578125,
            9.8388671875,
            0.29296875,
            3.629150390625,
            2.36572265625,
            -0.84136962890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.5,
            -16.6,
            -8.6,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.5,
            -16.6,
            -8.6,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.2,
            -17.1,
            0.5,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -17.1,
            0.5,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -167,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -179,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36185497458548144,
          -0.34786059752836473,
          -0.11176846800932887,
          -1.4513763332116876,
          -0.11824526328002002,
          -0.49800861071283326,
          0.3648596234264335
        ],
        "act_joint_pos_r": [
          -0.4952020824849859,
          -0.5578037747434346,
          0.17547225693866503,
          -1.0324743585182388,
          0.0785897599620844,
          0.8455724393707349,
          -0.43653837804198614
        ],
        "act_eef_pose_l": [
          476.1054875079824,
          348.5910907697837,
          101.86763144788783,
          1.6826203307055536,
          -0.062342636191187455,
          0.8402437499012041
        ],
        "act_eef_pose_r": [
          504.75666440420343,
          -350.3379481268787,
          37.99774334691983,
          1.6719509026711739,
          0.06356536740339928,
          2.423869699425798
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 27,
      "colors": {
        "rgb_main": "colors/000027_rgb_main.jpg",
        "rgb_wrist_0": "colors/000027_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000027_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000027_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3550606227078713,
          -0.33564711065478064,
          -0.11513932536886892,
          -1.4679653937582966,
          -0.0983708016073652,
          -0.4955102745996938,
          0.34670796505392903
        ],
        "joint_pos_r": [
          -0.5005355189045815,
          -0.48233652104934266,
          0.19427560975489003,
          -1.1070304872553443,
          0.07790208629133391,
          0.833280711028995,
          -0.4020123138446052
        ],
        "eef_pose_l": [
          472.6493263466804,
          348.40832036695974,
          106.01470399308872,
          1.683918639168515,
          -0.0679720157828004,
          0.8357025751598132
        ],
        "eef_pose_r": [
          488.89152491242567,
          -364.8214943557308,
          52.31231577668407,
          1.6672884725287032,
          0.04624038003076129,
          2.40830767890479
        ],
        "joint_status_l": {
          "velocity": [
            0.7337683614405677,
            -1.3190176799997566,
            0.36404185798977196,
            1.7915656996283502,
            -2.146378556594941,
            -0.2698123425290966,
            1.960321287644451
          ],
          "torque": [
            -17.81982421875,
            3.0908203125,
            -11.663818359375,
            -0.09765625,
            -3.9935302734375,
            -2.7685546875,
            0.57220458984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5759941452772033,
            -8.150223020982672,
            -2.0307022117922457,
            8.051824427740328,
            0.07426656606579485,
            1.327467509346647,
            -3.728704961042606
          ],
          "torque": [
            31.6259765625,
            5.3466796875,
            10.003662109375,
            -0.604248046875,
            4.5263671875,
            3.3599853515625,
            -0.736083984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -17.4,
            -8.9,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -17.4,
            -8.9,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.2,
            0.0,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.2,
            0.0,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -183,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -133,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36506358878601397,
          -0.34285974126317237,
          -0.11314439456110702,
          -1.4585225170521243,
          -0.12255054928920016,
          -0.4907894418764113,
          0.3702345385479714
        ],
        "act_joint_pos_r": [
          -0.4899366882290339,
          -0.5808189149416063,
          0.17088775857529803,
          -0.9997804479485773,
          0.07784048233648644,
          0.8578795576512198,
          -0.43574074438359595
        ],
        "act_eef_pose_l": [
          475.0230875079824,
          349.49349076978365,
          101.51963144788787,
          1.683764268548613,
          -0.06330880803178503,
          0.8453806518307996
        ],
        "act_eef_pose_r": [
          510.3342644042035,
          -348.0963481268787,
          35.67294334691974,
          1.6708225005900486,
          0.06242134385760385,
          2.4262044258586126
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 28,
      "colors": {
        "rgb_main": "colors/000028_rgb_main.jpg",
        "rgb_wrist_0": "colors/000028_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000028_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000028_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.35619152235120566,
          -0.3370542456981483,
          -0.11475071469441579,
          -1.466074697343386,
          -0.10138362711700831,
          -0.4954380510481177,
          0.3495434684931944
        ],
        "joint_pos_r": [
          -0.49906879899989737,
          -0.49796897154220066,
          0.1904950208379494,
          -1.090596430456675,
          0.07794914572658852,
          0.8366781219520506,
          -0.40803747546120134
        ],
        "eef_pose_l": [
          473.06959256150907,
          348.4854763954539,
          105.42273452180521,
          1.683791502890196,
          -0.06723682021356495,
          0.8366204046507952
        ],
        "eef_pose_r": [
          492.34192103140043,
          -362.21884150239794,
          49.49353301616293,
          1.6678598328404237,
          0.048990939894810785,
          2.411157571722029
        ],
        "joint_status_l": {
          "velocity": [
            0.9581549156902902,
            -0.6269750293821374,
            0.17347745795326386,
            0.8156114162840566,
            -2.2859601738052238,
            0.5020349838140703,
            2.2345696608065957
          ],
          "torque": [
            -17.02880859375,
            4.013671875,
            -11.56005859375,
            -0.9521484375,
            -3.9605712890625,
            -1.6259765625,
            0.5438232421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.9862388756927132,
            -8.947529993844405,
            -2.1175218713973543,
            9.807836844189843,
            -0.011735300016857408,
            2.289687524785755,
            -2.991864803282951
          ],
          "torque": [
            32.14599609375,
            3.310546875,
            9.735107421875,
            -1.6357421875,
            3.72802734375,
            3.1585693359375,
            -0.75347900390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.8,
            -6.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.8,
            -6.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.2,
            -17.3,
            -0.1,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -17.3,
            -0.1,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -141,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -131,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36829459103000467,
          -0.3394617820924423,
          -0.1140564535250736,
          -1.4621217458984883,
          -0.12415306354465334,
          -0.48690143173010947,
          0.37337560452080154
        ],
        "act_joint_pos_r": [
          -0.48639966905354776,
          -0.6033155604320941,
          0.1672344003279031,
          -0.9777904603010874,
          0.08069116354317617,
          0.8615807128372878,
          -0.43692595008615576
        ],
        "act_eef_pose_l": [
          474.2174875079824,
          350.40629076978365,
          100.64043144788779,
          1.685928427329512,
          -0.06399725312142439,
          0.8487592737484316
        ],
        "act_eef_pose_r": [
          515.5086644042035,
          -343.3547481268787,
          33.70014334691996,
          1.6674857272140473,
          0.059482890287483055,
          2.428815985157428
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 29,
      "colors": {
        "rgb_main": "colors/000029_rgb_main.jpg",
        "rgb_wrist_0": "colors/000029_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000029_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000029_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.35803767568576017,
          -0.33778886948022135,
          -0.11454503675766331,
          -1.4650485312362438,
          -0.10526375021964278,
          -0.49428221277648765,
          0.3534715967760868
        ],
        "joint_pos_r": [
          -0.49685082868743446,
          -0.516757825335996,
          0.1862806867912545,
          -1.0703721277879106,
          0.07832486278732192,
          0.8412004578942731,
          -0.41343916982182427
        ],
        "eef_pose_l": [
          473.3498527449339,
          348.7391705264742,
          104.66474109239645,
          1.683938966660102,
          -0.06659591893874392,
          0.838449461859604
        ],
        "eef_pose_r": [
          496.57711290051066,
          -359.12445792437705,
          46.521528976833395,
          1.6677821266245287,
          0.05086307320420463,
          2.4142169303673326
        ],
        "joint_status_l": {
          "velocity": [
            1.1077141868947038,
            -0.1806692335653004,
            0.052765432886459074,
            0.3160834940931778,
            -2.039985672939726,
            0.7971008437763771,
            2.1495694382673847
          ],
          "torque": [
            -17.34375,
            1.5234375,
            -15.1123046875,
            0.054931640625,
            -3.6676025390625,
            -0.897216796875,
            0.63720703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.1286919514699179,
            -9.347959687044494,
            -2.056938271890685,
            9.998525197839392,
            0.25555294450096966,
            2.2010026187428977,
            -2.536497458553999
          ],
          "torque": [
            33.09814453125,
            4.60693359375,
            9.5703125,
            -0.140380859375,
            4.7607421875,
            3.1182861328125,
            -0.7891845703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.3,
            -16.0,
            -8.7,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -16.0,
            -8.7,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.9,
            0.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.9,
            0.6,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -194,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -93,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36830602885521313,
          -0.33924734576071,
          -0.11407004336899237,
          -1.4608541453253339,
          -0.11584649844605767,
          -0.48728746364251313,
          0.36544736847860293
        ],
        "act_joint_pos_r": [
          -0.4837324875582829,
          -0.6299404716010866,
          0.16268641740642442,
          -0.9360596421439282,
          0.0808735659568236,
          0.882411941759806,
          -0.4451156573122326
        ],
        "act_eef_pose_l": [
          474.14628750798244,
          350.8110907697837,
          99.84763144788762,
          1.6898218477214444,
          -0.0634764751710975,
          0.8484792487322399
        ],
        "act_eef_pose_r": [
          520.8678644042035,
          -341.0155481268787,
          30.016943346920016,
          1.666109508126362,
          0.06462464856041096,
          2.434477313334125
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 30,
      "colors": {
        "rgb_main": "colors/000030_rgb_main.jpg",
        "rgb_wrist_0": "colors/000030_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000030_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000030_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36022273248487724,
          -0.33812965857301075,
          -0.11444197176233951,
          -1.4643338698061832,
          -0.10868735212021993,
          -0.49273829320519624,
          0.3571385582151899
        ],
        "joint_pos_r": [
          -0.49425448071410155,
          -0.5388914719744538,
          0.18159254764105767,
          -1.0448558777249026,
          0.07885412642369381,
          0.8484361184146955,
          -0.419579138932578
        ],
        "eef_pose_l": [
          473.53431103367086,
          349.12087265007466,
          103.75676700797388,
          1.6846125999153765,
          -0.06599829788297518,
          0.8406202063458251
        ],
        "eef_pose_r": [
          501.50039822370235,
          -355.7171656031485,
          43.1718925454507,
          1.667333262379215,
          0.05310836761036664,
          2.417951047617762
        ],
        "joint_status_l": {
          "velocity": [
            0.8729702611143253,
            -0.12070665621877197,
            0.040167081816755434,
            0.3757991603290378,
            -0.7731649999077606,
            0.5886722308106052,
            0.8973250432608992
          ],
          "torque": [
            -17.74658203125,
            2.3876953125,
            -13.543701171875,
            0.225830078125,
            -3.5833740234375,
            -0.68115234375,
            0.42388916015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.1363417462200154,
            -9.833001950785736,
            -2.0418018456138665,
            11.749646905434119,
            0.21809303726771923,
            3.6692807016214246,
            -2.757862646191267
          ],
          "torque": [
            33.8818359375,
            5.07568359375,
            9.1552734375,
            -0.91552734375,
            4.7808837890625,
            3.951416015625,
            -0.83953857421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.3,
            -8.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.3,
            -8.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.5,
            0.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.5,
            0.0,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -204,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -89,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36921281490373487,
          -0.33960643351340913,
          -0.11395133183476387,
          -1.4597390947931503,
          -0.11135783034981299,
          -0.48993862684789363,
          0.36314425339966366
        ],
        "act_joint_pos_r": [
          -0.4820376986448492,
          -0.650419760577347,
          0.15980828976141823,
          -0.9077394843837938,
          0.08152653789813558,
          0.8941002277279373,
          -0.45986600870626476
        ],
        "act_eef_pose_l": [
          473.8198875079824,
          350.59349076978367,
          99.03723144788778,
          1.6919906843407442,
          -0.06418290946628417,
          0.8457364584229432
        ],
        "act_eef_pose_r": [
          525.0182644042035,
          -338.31634812687867,
          27.3529433469198,
          1.6648736374310564,
          0.07652800254888695,
          2.438841319420012
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 31,
      "colors": {
        "rgb_main": "colors/000031_rgb_main.jpg",
        "rgb_wrist_0": "colors/000031_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000031_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000031_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36169174134408266,
          -0.33834304147063254,
          -0.1143709994479363,
          -1.463669666925023,
          -0.10975606617113104,
          -0.49189094489703417,
          0.35850650322965794
        ],
        "joint_pos_r": [
          -0.493792493304095,
          -0.5428891453143119,
          0.18076243931357677,
          -1.0400789794367002,
          0.07894279362065539,
          0.8499278892605414,
          -0.42070036661369203
        ],
        "eef_pose_l": [
          473.63168809347155,
          349.40948106997024,
          103.0319707085737,
          1.6856190080678835,
          -0.06557756257113083,
          0.8418901784942385
        ],
        "eef_pose_r": [
          502.3792613928006,
          -355.1232310193106,
          42.57360040675579,
          1.667243829208179,
          0.05355663624610243,
          2.418646836914456
        ],
        "joint_status_l": {
          "velocity": [
            0.8122519883504431,
            -0.13644231646869898,
            0.04532276549917835,
            0.42448927060156905,
            -0.17298542936516892,
            0.21084413079197617,
            0.5008622462181478
          ],
          "torque": [
            -18.603515625,
            1.875,
            -11.920166015625,
            -0.274658203125,
            -3.7847900390625,
            -0.823974609375,
            0.52276611328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.0864485774599864,
            -9.401265963453476,
            -1.952152790303474,
            11.23375710566421,
            0.20851726241821744,
            3.5081742018530093,
            -2.6367736279606646
          ],
          "torque": [
            35.26611328125,
            6.67236328125,
            9.87548828125,
            0.494384765625,
            4.866943359375,
            3.2720947265625,
            -0.8770751953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -17.4,
            -8.4,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -17.4,
            -8.4,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.6,
            -0.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.6,
            -0.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -152,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -89,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.370618578080165,
          -0.3386028832039032,
          -0.11433085017968359,
          -1.4643759695719891,
          -0.11157655142103001,
          -0.48660786999298145,
          0.36458064617741714
        ],
        "act_joint_pos_r": [
          -0.48057201687724405,
          -0.6559306608156611,
          0.15916223320434852,
          -0.904395404334458,
          0.07505470504983693,
          0.8902635762212765,
          -0.47486653463949674
        ],
        "act_eef_pose_l": [
          473.16868750798244,
          349.8366907697837,
          98.68203144788758,
          1.6929077742161591,
          -0.06450605328292501,
          0.8452222721113143
        ],
        "act_eef_pose_r": [
          526.3854644042035,
          -336.74594812687866,
          26.09054334691973,
          1.6699468424186044,
          0.09541937876624872,
          2.441373103931746
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 32,
      "colors": {
        "rgb_main": "colors/000032_rgb_main.jpg",
        "rgb_wrist_0": "colors/000032_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000032_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000032_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3628748589097823,
          -0.33850522376316317,
          -0.11431848785384482,
          -1.463209765500563,
          -0.11000565612502797,
          -0.491496369542103,
          0.3592528497302919
        ],
        "joint_pos_r": [
          -0.49132876759609617,
          -0.5651296878333992,
          0.17639463723554097,
          -1.0128709196154313,
          0.0793732663152577,
          0.8588550308955111,
          -0.4287304769891675
        ],
        "eef_pose_l": [
          473.643608815856,
          349.5667141676596,
          102.41565979997308,
          1.6866100078309643,
          -0.06537217290960134,
          0.842460453331957
        ],
        "eef_pose_r": [
          507.2277540541195,
          -351.88761945842305,
          39.299980887640146,
          1.6666749070109288,
          0.05800879860294654,
          2.4226790441881936
        ],
        "joint_status_l": {
          "velocity": [
            0.8362970051396523,
            -0.010546908535413735,
            -0.0013350918141030732,
            -0.1259463251255255,
            -0.16965168835914035,
            0.5279423804771533,
            0.5753850462144605
          ],
          "torque": [
            -18.1787109375,
            2.62939453125,
            -11.224365234375,
            0.18310546875,
            -3.7481689453125,
            -0.714111328125,
            0.567626953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.1616948152792794,
            -9.806215863206624,
            -1.8610447467881652,
            11.71501013459153,
            -0.4663908612023704,
            3.3920228528163676,
            -4.982547273858717
          ],
          "torque": [
            35.47119140625,
            4.85595703125,
            9.521484375,
            -0.08544921875,
            4.833984375,
            3.1787109375,
            -0.772705078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -17.0,
            -8.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.1,
            -17.0,
            -8.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.5,
            0.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.5,
            0.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -194,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -53,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37110434216547344,
          -0.3377516032378858,
          -0.11449224398434481,
          -1.4630245823740071,
          -0.10748070356160717,
          -0.48790101214101106,
          0.3620429698873498
        ],
        "act_joint_pos_r": [
          -0.4845239702180985,
          -0.6712155584293125,
          0.15755516764170827,
          -0.890329935290665,
          0.09116074979844058,
          0.8917012166307201,
          -0.4872750896571614
        ],
        "act_eef_pose_l": [
          472.99748750798244,
          350.51269076978366,
          98.17963144788773,
          1.6950655909388315,
          -0.06554828179849059,
          0.8452808193302749
        ],
        "act_eef_pose_r": [
          529.4006644042034,
          -333.4835481268787,
          23.900143346919776,
          1.6610280491406963,
          0.09223844713205621,
          2.438260949952314
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 33,
      "colors": {
        "rgb_main": "colors/000033_rgb_main.jpg",
        "rgb_wrist_0": "colors/000033_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000033_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000033_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3642583386044993,
          -0.3384973867703737,
          -0.11432543307416194,
          -1.4633761081623595,
          -0.1101626182369235,
          -0.49067017611668834,
          0.36012001358422907
        ],
        "joint_pos_r": [
          -0.48948559067678604,
          -0.5814111233618742,
          0.1733239300570918,
          -0.9934825912687772,
          0.07884896682149503,
          0.8644296821896685,
          -0.4370720513579912
        ],
        "eef_pose_l": [
          473.5570387357065,
          349.63423340808384,
          101.74072285106284,
          1.6877840847592478,
          -0.06524727498030873,
          0.8429529107283316
        ],
        "eef_pose_r": [
          510.76636110346436,
          -349.3415351014621,
          36.85909302154451,
          1.6669785444295302,
          0.06440767149590144,
          2.4258139349398253
        ],
        "joint_status_l": {
          "velocity": [
            0.7393465787233211,
            0.08054224604236992,
            -0.01801504697429568,
            0.03796366546460206,
            0.2896382425109367,
            0.29906088904407824,
            0.2076731557445477
          ],
          "torque": [
            -18.20068359375,
            6.650390625,
            -11.1328125,
            -3.680419921875,
            -3.8250732421875,
            -0.3533935546875,
            0.633544921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5358392058059103,
            -9.698592942575246,
            -1.7029761142657307,
            11.140158284230317,
            1.3296333460707244,
            2.9452388544566332,
            -5.421768229803892
          ],
          "torque": [
            35.14892578125,
            5.0244140625,
            9.600830078125,
            -0.2197265625,
            2.728271484375,
            2.84912109375,
            -0.7562255859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.8,
            -8.8,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -16.8,
            -8.8,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.7,
            -17.8,
            0.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -17.8,
            0.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -270,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -82,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37079723179372726,
          -0.3370314960238508,
          -0.11464678506238506,
          -1.4624532251343643,
          -0.10394968259225466,
          -0.48838989270172267,
          0.36106713378874805
        ],
        "act_joint_pos_r": [
          -0.4840409080310972,
          -0.6837322035912871,
          0.1560857205275225,
          -0.8773212868986423,
          0.0950780889783416,
          0.8911627043032527,
          -0.49063027859135594
        ],
        "act_eef_pose_l": [
          472.9126875079824,
          350.95989076978367,
          98.09403144788784,
          1.6964454338815789,
          -0.06810070614978482,
          0.8452226712224413
        ],
        "act_eef_pose_r": [
          532.4686644042034,
          -331.2595481268787,
          22.412143346919947,
          1.659350697180292,
          0.09154442815684559,
          2.4359174044649547
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 34,
      "colors": {
        "rgb_main": "colors/000034_rgb_main.jpg",
        "rgb_wrist_0": "colors/000034_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000034_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000034_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3653532428669103,
          -0.3383031578256376,
          -0.11436822746951338,
          -1.4632614887984359,
          -0.10937051025503752,
          -0.49026356507771773,
          0.36033907689693734
        ],
        "joint_pos_r": [
          -0.488573504839084,
          -0.5981917744683812,
          0.1704299305879813,
          -0.9743063881937947,
          0.08130824056129234,
          0.8692126910698065,
          -0.4461902855743158
        ],
        "eef_pose_l": [
          473.45858690742466,
          349.82276163256284,
          101.14623924976078,
          1.6891175542758308,
          -0.06554834404671625,
          0.8433340858332596
        ],
        "eef_pose_r": [
          514.3982414154023,
          -346.56115711361434,
          34.39278867874478,
          1.6657052935965146,
          0.06906116987651542,
          2.42780550192446
        ],
        "joint_status_l": {
          "velocity": [
            0.587933463925161,
            0.13733542410143684,
            -0.030083332769659243,
            0.08728990124318159,
            0.5854321211831159,
            0.2023506485944182,
            0.0786278253119832
          ],
          "torque": [
            -17.6220703125,
            9.462890625,
            -11.431884765625,
            -0.59814453125,
            -1.402587890625,
            -0.498046875,
            0.5731201171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.48950601805453076,
            -9.23809388225827,
            -1.549128997412108,
            10.474082023340436,
            1.4870997693781085,
            2.3705315141215877,
            -4.799377695761553
          ],
          "torque": [
            36.26220703125,
            4.24072265625,
            9.5703125,
            0.726318359375,
            5.225830078125,
            2.70263671875,
            -0.81298828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -17.1,
            -8.2,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -17.1,
            -8.2,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.2,
            -17.7,
            0.5,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -17.7,
            0.5,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -175,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -1,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3712787418860358,
          -0.33603926517021715,
          -0.1149319252793335,
          -1.463961267388949,
          -0.10606692176055782,
          -0.486698676461307,
          0.36521790306367696
        ],
        "act_joint_pos_r": [
          -0.4856542852112007,
          -0.6810953316831545,
          0.15747765542529105,
          -0.8989757298141867,
          0.10163852549328169,
          0.8559405499082879,
          -0.47345196669363754
        ],
        "act_eef_pose_l": [
          472.7654875079824,
          351.15829076978366,
          98.21403144788773,
          1.6960431720233737,
          -0.07041281749109057,
          0.8463602565673297
        ],
        "act_eef_pose_r": [
          534.3950644042035,
          -329.71954812687864,
          22.23054334691983,
          1.6618582604389973,
          0.06974770949282937,
          2.4173581975159717
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 35,
      "colors": {
        "rgb_main": "colors/000035_rgb_main.jpg",
        "rgb_wrist_0": "colors/000035_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000035_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000035_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36628956416508857,
          -0.33800888395735507,
          -0.11443851055100311,
          -1.4632581335252426,
          -0.10866119237193152,
          -0.489810290518598,
          0.3608152584371494
        ],
        "joint_pos_r": [
          -0.48790944594816,
          -0.6111372200560621,
          0.1682732274465745,
          -0.959906207340019,
          0.08349589245967859,
          0.8720213632358986,
          -0.4526808709748982
        ],
        "eef_pose_l": [
          473.35762727103,
          350.0264457792703,
          100.65419257392192,
          1.6902868276632987,
          -0.06616435672395954,
          0.843747345484164
        ],
        "eef_pose_r": [
          517.2532447010611,
          -344.34478869307856,
          32.52496430551912,
          1.664699330541007,
          0.07200305342198202,
          2.42873167508097
        ],
        "joint_status_l": {
          "velocity": [
            0.538815302354223,
            0.21271255538968248,
            -0.053287219037079225,
            -0.07593621766055492,
            0.28017296276861003,
            0.3360444070872326,
            0.4754715963795064
          ],
          "torque": [
            -18.45703125,
            9.140625,
            -12.384033203125,
            -3.070068359375,
            -1.1041259765625,
            -0.2911376953125,
            0.62530517578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2435501764632697,
            -7.555253225443259,
            -1.1658873922881785,
            6.580297497290388,
            1.9593465797907994,
            -1.736676618842914,
            -2.2432121776172487
          ],
          "torque": [
            35.5810546875,
            5.2294921875,
            9.38720703125,
            0.08544921875,
            4.9530029296875,
            3.0303955078125,
            -0.89080810546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.4,
            -9.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.4,
            -9.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.2,
            -17.6,
            1.9,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -17.6,
            1.9,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -244,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -55,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3727475232702311,
          -0.33632625877932687,
          -0.11480071321213102,
          -1.4619432099864536,
          -0.10696446825372079,
          -0.48964622233633515,
          0.36684399999410033
        ],
        "act_joint_pos_r": [
          -0.4822367016037865,
          -0.6898507769900313,
          0.1565953106329005,
          -0.8935382059751434,
          0.1085665277473824,
          0.8395294185553304,
          -0.45020580557369094
        ],
        "act_eef_pose_l": [
          472.6246875079824,
          351.3478907697837,
          97.5828314478877,
          1.6963446864814185,
          -0.07015457155906939,
          0.8452218660521784
        ],
        "act_eef_pose_r": [
          539.0278644042035,
          -329.0531481268787,
          22.509743346919777,
          1.6607017657268162,
          0.044090958324519154,
          2.4006697103497148
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 36,
      "colors": {
        "rgb_main": "colors/000036_rgb_main.jpg",
        "rgb_wrist_0": "colors/000036_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000036_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000036_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36741780209979347,
          -0.33767272040225427,
          -0.11451524866005948,
          -1.4631367328388742,
          -0.10828388938309781,
          -0.48959353487710167,
          0.36185244504410213
        ],
        "joint_pos_r": [
          -0.48717078392410756,
          -0.6243772644717295,
          0.1662767169512696,
          -0.9485923422603662,
          0.08739275765418407,
          0.8675458037399426,
          -0.4540411911897518
        ],
        "eef_pose_l": [
          473.22951442029336,
          350.2641756073507,
          100.11284639410516,
          1.6914114574902008,
          -0.06693338887932117,
          0.8441034548040244
        ],
        "eef_pose_r": [
          520.8251240563646,
          -341.80155395249517,
          30.711524268326315,
          1.6639061965659485,
          0.06899791525625762,
          2.4249920615343976
        ],
        "joint_status_l": {
          "velocity": [
            0.5755929102018165,
            0.14541356653241522,
            -0.03082926236319672,
            0.12889666645676812,
            0.1424932793581135,
            -0.0056900777773982725,
            0.5390720355196166
          ],
          "torque": [
            -17.109375,
            9.140625,
            -12.664794921875,
            -0.25634765625,
            -1.029052734375,
            -1.2744140625,
            0.6060791015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5328651745766244,
            -7.070930806019504,
            -1.0455610452091424,
            5.945671360601423,
            2.2866997274619827,
            -3.0256803622661366,
            0.41420943008052546
          ],
          "torque": [
            37.19970703125,
            4.89990234375,
            9.27734375,
            0.0732421875,
            5.1141357421875,
            0.6317138671875,
            0.35247802734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.3,
            -8.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.3,
            -8.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.2,
            -17.3,
            0.4,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -17.3,
            0.4,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -238,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -24,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3738209239751594,
          -0.3372970943436364,
          -0.11447169196065893,
          -1.4588148845200977,
          -0.10901455062360707,
          -0.49291035583204335,
          0.36896129405255523
        ],
        "act_joint_pos_r": [
          -0.4801328399695328,
          -0.6971350739143035,
          0.1556642015112567,
          -0.8825761096787849,
          0.1067488979556499,
          0.8418808218284073,
          -0.44689747907434907
        ],
        "act_eef_pose_l": [
          472.7774875079824,
          351.5918907697837,
          97.08203144788767,
          1.6959625682575075,
          -0.06955219141373721,
          0.8444675491323843
        ],
        "act_eef_pose_r": [
          541.0086644042035,
          -328.4883481268787,
          21.94014334691974,
          1.661553910462756,
          0.04265726253524113,
          2.399728274096694
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 37,
      "colors": {
        "rgb_main": "colors/000037_rgb_main.jpg",
        "rgb_wrist_0": "colors/000037_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000037_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000037_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3680966169518605,
          -0.33759078081296945,
          -0.11452373827853349,
          -1.462776494614386,
          -0.10828281670123804,
          -0.48983483001126576,
          0.36256836680118415
        ],
        "joint_pos_r": [
          -0.4860891356649683,
          -0.6366780659907553,
          0.16447234996511498,
          -0.9377679609944222,
          0.09095566729834889,
          0.8628261541094326,
          -0.45303399940256106
        ],
        "eef_pose_l": [
          473.1733431872323,
          350.40399342322485,
          99.79104840452203,
          1.6919400466870127,
          -0.06725292301575225,
          0.8441775265106047
        ],
        "eef_pose_r": [
          524.3092509379999,
          -339.5837109081299,
          29.181666526333544,
          1.663270913280659,
          0.06440585022305398,
          2.4205327548713433
        ],
        "joint_status_l": {
          "velocity": [
            0.618206925477427,
            0.03171720323891236,
            0.0056208365527554704,
            0.4278412716800517,
            -0.07902493290001811,
            -0.33214699249217716,
            0.6904157804230593
          ],
          "torque": [
            -17.93701171875,
            6.03515625,
            -12.7197265625,
            -0.750732421875,
            -2.5360107421875,
            -1.8255615234375,
            0.57861328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6432609631392694,
            -6.529164288335387,
            -0.9512519773393624,
            5.960544145237279,
            1.7056186064566825,
            -2.262029171366642,
            0.6627246494281813
          ],
          "torque": [
            36.240234375,
            3.984375,
            9.246826171875,
            -0.0244140625,
            4.9859619140625,
            0.8917236328125,
            0.43304443359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -16.5,
            -7.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.1,
            -16.5,
            -7.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.8,
            -17.4,
            0.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -17.4,
            0.6,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -240,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 24,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3734003670416227,
          -0.3389107150637513,
          -0.11397849942208108,
          -1.4552424509822033,
          -0.10831830960032221,
          -0.4970128502257221,
          0.3699626663602746
        ],
        "act_joint_pos_r": [
          -0.47639778370529534,
          -0.7134024967533651,
          0.15360182667790148,
          -0.8633674876093493,
          0.10023100186867495,
          0.8422648082985404,
          -0.4393511346810208
        ],
        "act_eef_pose_l": [
          473.0710875079824,
          351.5254907697837,
          96.96283144788781,
          1.695547851908092,
          -0.07091686325392847,
          0.842191413590277
        ],
        "act_eef_pose_r": [
          545.0454644042035,
          -325.8203481268787,
          19.922543346919838,
          1.6660246501218723,
          0.039714538600200765,
          2.399030706459739
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 38,
      "colors": {
        "rgb_main": "colors/000038_rgb_main.jpg",
        "rgb_wrist_0": "colors/000038_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000038_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000038_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36914260333791493,
          -0.3376738503814923,
          -0.11447154133004334,
          -1.4617207818924272,
          -0.10836134428656355,
          -0.4907685646820121,
          0.36386287081577157
        ],
        "joint_pos_r": [
          -0.4844207211522215,
          -0.6508850570751005,
          0.1624412674157443,
          -0.9242490541688835,
          0.09331003828825435,
          0.8586627716238642,
          -0.45084903951054817
        ],
        "eef_pose_l": [
          473.1254404840696,
          350.6227410317093,
          99.26858537035378,
          1.6926646785027943,
          -0.06780467603731787,
          0.8440395518690663
        ],
        "eef_pose_r": [
          528.2507908959028,
          -337.124636312416,
          27.429353502314683,
          1.6633638866913913,
          0.059578742797080975,
          2.416201760121259
        ],
        "joint_status_l": {
          "velocity": [
            0.459824918189522,
            -0.13357744602782162,
            0.05324695562491932,
            0.6996391035531957,
            0.004647609040175915,
            -0.6743629494487813,
            0.658758489763489
          ],
          "torque": [
            -17.07275390625,
            3.50830078125,
            -12.97607421875,
            -0.494384765625,
            -1.7376708984375,
            -2.4188232421875,
            0.53741455078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.866451689641945,
            -6.751684354965981,
            -0.9546314443376058,
            6.575015268720286,
            0.7474420220613398,
            -1.7709278084119262,
            1.2417370985109422
          ],
          "torque": [
            37.46337890625,
            3.6767578125,
            9.3017578125,
            -1.123046875,
            4.720458984375,
            1.6497802734375,
            0.59326171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -17.0,
            -8.7,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -17.0,
            -8.7,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.8,
            -0.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.8,
            -0.1,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 89,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3719393585211147,
          -0.34088061201901215,
          -0.11340240062569255,
          -1.4515202536790317,
          -0.1043581404497261,
          -0.501012290807512,
          0.36916064772008333
        ],
        "act_joint_pos_r": [
          -0.47327342911926573,
          -0.7331358926337858,
          0.1512352188707683,
          -0.8401586157642209,
          0.09372817462452644,
          0.8479968575675975,
          -0.4315887459734873
        ],
        "act_eef_pose_l": [
          473.4726875079824,
          351.3118907697837,
          96.96763144788774,
          1.6959234614142118,
          -0.07386454306138361,
          0.8391719474251346
        ],
        "act_eef_pose_r": [
          548.9782644042035,
          -321.81234812687865,
          17.424943346919918,
          1.6693150980521714,
          0.035200349832790606,
          2.402613263296925
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 39,
      "colors": {
        "rgb_main": "colors/000039_rgb_main.jpg",
        "rgb_wrist_0": "colors/000039_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000039_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000039_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.369873291914416,
          -0.3380917504840002,
          -0.11432291970603849,
          -1.4600984084939013,
          -0.10801256816844663,
          -0.4923676865575644,
          0.36502056060370747
        ],
        "joint_pos_r": [
          -0.4835763051535776,
          -0.6573965103466761,
          0.16152689422823568,
          -0.9178486844738099,
          0.09390183256422414,
          0.8571168955886369,
          -0.4495900862726366
        ],
        "eef_pose_l": [
          473.150754993855,
          350.78588653515277,
          98.80586878968691,
          1.6932744258048873,
          -0.06868571642068741,
          0.8434120809162095
        ],
        "eef_pose_r": [
          530.0147562150383,
          -335.9926952464581,
          26.622524818475455,
          1.6636282529636068,
          0.057491166813892734,
          2.414522643271695
        ],
        "joint_status_l": {
          "velocity": [
            0.2231286126970211,
            -0.3011881627115187,
            0.09941312864392149,
            0.9264133969022481,
            0.39466655355413494,
            -0.9335897242368496,
            0.4471162215802238
          ],
          "torque": [
            -16.93359375,
            3.046875,
            -11.14501953125,
            -0.4150390625,
            -0.9283447265625,
            -2.757568359375,
            0.61614990234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.1126777950285494,
            -8.179612042246376,
            -1.111468157605655,
            8.390279962555702,
            -0.01875450435284698,
            -0.9849350571657922,
            1.9440874145146836
          ],
          "torque": [
            37.939453125,
            6.21826171875,
            9.454345703125,
            0.177001953125,
            4.8211669921875,
            0.90087890625,
            0.5401611328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.4,
            -9.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.4,
            -9.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.1,
            -17.2,
            0.3,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.1,
            -17.2,
            0.3,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -251,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 116,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37036686312536393,
          -0.34152794491109134,
          -0.11315258770052575,
          -1.4482469517141952,
          -0.09655209650817523,
          -0.5050240646091725,
          0.364722674778686
        ],
        "act_joint_pos_r": [
          -0.46863041595879856,
          -0.7465516024103318,
          0.14981670658629506,
          -0.8291758295971664,
          0.07574755584709081,
          0.847188917515361,
          -0.4165182080822752
        ],
        "act_eef_pose_l": [
          473.5782875079824,
          351.52469076978366,
          96.88283144788765,
          1.6979642671282187,
          -0.07693478679992471,
          0.8363574881387061
        ],
        "act_eef_pose_r": [
          551.4462644042035,
          -317.53554812687867,
          15.371343346919957,
          1.6793830225121644,
          0.03245983564101953,
          2.409140606302865
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 40,
      "colors": {
        "rgb_main": "colors/000040_rgb_main.jpg",
        "rgb_wrist_0": "colors/000040_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000040_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000040_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.37014721249015314,
          -0.3386224610246369,
          -0.11414564761841466,
          -1.4583915077320524,
          -0.10691282708813864,
          -0.4941292485780085,
          0.36549467315706324
        ],
        "joint_pos_r": [
          -0.48175467005458605,
          -0.67078786987489,
          0.15970723950307464,
          -0.9041124271867097,
          0.09387112838054587,
          0.8555043961944929,
          -0.4464072979707486
        ],
        "eef_pose_l": [
          473.21556055947417,
          350.8910912031007,
          98.47763896658408,
          1.6938522695372367,
          -0.0697852129174068,
          0.8425038723013732
        ],
        "eef_pose_r": [
          533.4413728842624,
          -333.5978606817194,
          24.941462044466192,
          1.6645496896563157,
          0.053449186998839014,
          2.4123739422452575
        ],
        "joint_status_l": {
          "velocity": [
            0.023721568972234763,
            -0.31378300520223945,
            0.10724730804168026,
            1.0955797375320486,
            1.118925901680612,
            -1.1766054292432493,
            -0.08337336589914202
          ],
          "torque": [
            -20.8154296875,
            2.01416015625,
            -12.200927734375,
            0.54931640625,
            -0.384521484375,
            -3.057861328125,
            0.596923828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.9159470066020248,
            -6.7333878673006,
            -0.9149512432446993,
            6.906807928218406,
            -0.015438550314383903,
            -0.8107902587246585,
            1.6003564157149874
          ],
          "torque": [
            37.60986328125,
            6.54052734375,
            9.3017578125,
            0.1708984375,
            3.7847900390625,
            0.79833984375,
            0.62896728515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -16.5,
            -9.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.5,
            -9.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.3,
            -17.4,
            -0.4,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -17.4,
            -0.4,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -282,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 137,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3685781986394282,
          -0.340751569404694,
          -0.11334947824392075,
          -1.4487503751261657,
          -0.08801583187565137,
          -0.5044926157946875,
          0.3592644741483495
        ],
        "act_joint_pos_r": [
          -0.4596975554758602,
          -0.7610448257558715,
          0.14819504592905608,
          -0.8096056577558163,
          0.05216999365072095,
          0.8568810448222147,
          -0.40167474541611714
        ],
        "act_eef_pose_l": [
          473.4726875079824,
          351.6878907697837,
          97.04683144788764,
          1.700682790321922,
          -0.08020792817741315,
          0.8355133336606398
        ],
        "act_eef_pose_r": [
          554.2246644042035,
          -314.2219481268787,
          14.836143346919926,
          1.6894836107390436,
          0.03648157556290938,
          2.420176117412273
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 41,
      "colors": {
        "rgb_main": "colors/000041_rgb_main.jpg",
        "rgb_wrist_0": "colors/000041_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000041_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000041_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3701305748256449,
          -0.3390772139334863,
          -0.1139881994450923,
          -1.4567386358462822,
          -0.10495783929530898,
          -0.49590463324987766,
          0.3652067994471799
        ],
        "joint_pos_r": [
          -0.4792736993954451,
          -0.6851100245722566,
          0.15783756205011568,
          -0.8899466316635057,
          0.09044510116664525,
          0.853932462393983,
          -0.44075715172239704
        ],
        "eef_pose_l": [
          473.27378699178325,
          350.99940487668346,
          98.22325178335969,
          1.6945915910503497,
          -0.07106591776883006,
          0.841474502804576
        ],
        "eef_pose_r": [
          536.9195713380449,
          -330.6756208483115,
          23.062528390370915,
          1.6672853598859834,
          0.04936880880391713,
          2.411761028423525
        ],
        "joint_status_l": {
          "velocity": [
            -0.16765168348920056,
            -0.18082505774019708,
            0.0689798552744314,
            0.8627067135993371,
            1.829682837712343,
            -0.9274747604330891,
            -0.6417522048041135
          ],
          "torque": [
            -20.51513671875,
            2.75390625,
            -12.3046875,
            0.201416015625,
            -0.732421875,
            -2.75390625,
            -0.2142333984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.1494407102161652,
            -6.635494703056466,
            -0.8662268420975838,
            6.563053056261481,
            -1.5872880799524536,
            -0.7282813673805677,
            2.617728707352107
          ],
          "torque": [
            38.41552734375,
            5.5078125,
            9.55810546875,
            0.054931640625,
            2.1917724609375,
            0.985107421875,
            0.6207275390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.6,
            -9.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.6,
            -9.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.8,
            -17.7,
            -0.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -17.7,
            -0.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -227,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 150,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3681363832344634,
          -0.3409911328325826,
          -0.11326114312577903,
          -1.4476599122347729,
          -0.086913515323122,
          -0.505813520706425,
          0.36090512031301136
        ],
        "act_joint_pos_r": [
          -0.457188195002316,
          -0.7687554439983038,
          0.14746860773983791,
          -0.800859196770494,
          0.048017986415159974,
          0.858917782823797,
          -0.3992954536071575
        ],
        "act_eef_pose_l": [
          473.54228750798245,
          351.7702907697837,
          97.11163144788775,
          1.70077353607291,
          -0.08298471859445893,
          0.8345834315060309
        ],
        "act_eef_pose_r": [
          555.8918644042035,
          -312.4683481268787,
          14.47294334691992,
          1.6910016317854808,
          0.0372900541118247,
          2.422238165044018
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 42,
      "colors": {
        "rgb_main": "colors/000042_rgb_main.jpg",
        "rgb_wrist_0": "colors/000042_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000042_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000042_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36984969762213077,
          -0.33936639114363026,
          -0.11387806352367051,
          -1.4553620364742033,
          -0.10210859690957214,
          -0.4973932150293308,
          0.3643252464774444
        ],
        "joint_pos_r": [
          -0.47570229449960033,
          -0.6988744846417831,
          0.15610078853421983,
          -0.8753576426380599,
          0.08349543888586641,
          0.8545432232739314,
          -0.4337425865510326
        ],
        "eef_pose_l": [
          473.3116540074384,
          351.1158416754801,
          98.03745077420723,
          1.6955754469946989,
          -0.072741167282004,
          0.840446055701948
        ],
        "eef_pose_r": [
          540.1219128579688,
          -327.7916848823661,
          21.511663928206445,
          1.6711684899622452,
          0.04705358961561355,
          2.4133760568895193
        ],
        "joint_status_l": {
          "velocity": [
            -0.18503249662638055,
            -0.17546692728664937,
            0.06662543795998843,
            0.8318048850846083,
            1.641020412026739,
            -0.9093661928036845,
            -0.3693627319871773
          ],
          "torque": [
            -26.77734375,
            3.5302734375,
            -12.786865234375,
            0.91552734375,
            -0.919189453125,
            -2.90771484375,
            -0.32318115234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.999463774675192,
            -7.546921025966213,
            -0.9322480306073189,
            8.045594861561867,
            -3.831451864204083,
            0.4724384975567375,
            3.7201806370754653
          ],
          "torque": [
            38.8916015625,
            5.74951171875,
            8.489990234375,
            0.787353515625,
            1.97021484375,
            2.4481201171875,
            0.7415771484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.5,
            -8.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.5,
            -8.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.8,
            -17.0,
            0.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -17.0,
            0.3,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -244,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 146,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36889655512097824,
          -0.3432164045556915,
          -0.11265958549113858,
          -1.4447665892757329,
          -0.08493726178638984,
          -0.5104037407304167,
          0.3598195461224679
        ],
        "act_joint_pos_r": [
          -0.4535430101161415,
          -0.7888931049076744,
          0.14522389700083346,
          -0.7705862813261088,
          0.04003010853994482,
          0.8740404675652405,
          -0.38835148302838657
        ],
        "act_eef_pose_l": [
          473.5278875079824,
          351.0582907697837,
          96.29563144788771,
          1.7016008216558864,
          -0.08215285072205704,
          0.8304368598352986
        ],
        "act_eef_pose_r": [
          559.3046644042034,
          -309.2827481268787,
          12.279343346919859,
          1.694237292285965,
          0.030691341248782218,
          2.428324086791036
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 43,
      "colors": {
        "rgb_main": "colors/000043_rgb_main.jpg",
        "rgb_wrist_0": "colors/000043_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000043_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000043_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3696325491764619,
          -0.3399047650772961,
          -0.11370110534900281,
          -1.4536737454255666,
          -0.09919897271159193,
          -0.4993999692495716,
          0.36359804016204356
        ],
        "joint_pos_r": [
          -0.4719906222983123,
          -0.713254772231045,
          0.15433854663196978,
          -0.8595155214218841,
          0.07632471103047649,
          0.856248953195809,
          -0.42659484937738
        ],
        "eef_pose_l": [
          473.35272828671265,
          351.1498473241596,
          97.78640178741693,
          1.6965607788987123,
          -0.07447196439467571,
          0.8389493707360394
        ],
        "eef_pose_r": [
          543.3771213238402,
          -324.81358690677433,
          19.976193494270746,
          1.6749744906604298,
          0.0447768750916938,
          2.4154316885445866
        ],
        "joint_status_l": {
          "velocity": [
            -0.07948501370735883,
            -0.3576465154466746,
            0.11248082720471952,
            0.9619444931452392,
            1.5402193535802855,
            -1.188372270764848,
            -0.4080653210309926
          ],
          "torque": [
            -27.54638671875,
            3.1787109375,
            -12.5244140625,
            -0.067138671875,
            -0.7891845703125,
            -2.7685546875,
            -0.4339599609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.9922833564183229,
            -8.168699006176894,
            -0.9843531282192064,
            9.604074673302598,
            -3.919701463562353,
            1.9214268824416791,
            4.130161753082007
          ],
          "torque": [
            40.60546875,
            -0.0439453125,
            8.49609375,
            4.58984375,
            1.6864013671875,
            3.28125,
            0.81756591796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.6,
            -8.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.6,
            -8.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.7,
            -17.4,
            0.9,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -17.4,
            0.9,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -265,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 93,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36842117259594803,
          -0.34326648517209885,
          -0.11255784981980417,
          -1.4417646319914514,
          -0.08089072375620462,
          -0.5132224694907602,
          0.35717934091265413
        ],
        "act_joint_pos_r": [
          -0.45179682968988694,
          -0.803458615640542,
          0.14392053606256716,
          -0.7555751779129664,
          0.035255840451460685,
          0.8795320679950648,
          -0.3829785680971813
        ],
        "act_eef_pose_l": [
          473.6422875079824,
          351.69589076978366,
          96.06203144788769,
          1.7030908543082564,
          -0.08335971808734727,
          0.8298125771199488
        ],
        "act_eef_pose_r": [
          561.4878644042035,
          -305.17554812687865,
          10.688943346920041,
          1.695911121795981,
          0.0267905238529934,
          2.4339489093863356
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 44,
      "colors": {
        "rgb_main": "colors/000044_rgb_main.jpg",
        "rgb_wrist_0": "colors/000044_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000044_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000044_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3695218731528672,
          -0.340281369999705,
          -0.11357766546969092,
          -1.452494193684855,
          -0.0973544975296329,
          -0.5008054616134673,
          0.363018242469038
        ],
        "joint_pos_r": [
          -0.4687608769600862,
          -0.7273329747239027,
          0.15269306581238648,
          -0.8432020737978233,
          0.06981930575723308,
          0.8597934828811581,
          -0.4197015234143231
        ],
        "eef_pose_l": [
          473.38069502972706,
          351.1756337213698,
          97.60812367462634,
          1.6971962198522252,
          -0.07541894824605125,
          0.8379577277693164
        ],
        "eef_pose_r": [
          546.3365620387569,
          -321.9136892737617,
          18.45653602908925,
          1.6781580512506076,
          0.04200485865397872,
          2.418199026070347
        ],
        "joint_status_l": {
          "velocity": [
            -0.11887215420047781,
            -0.3223829304421777,
            0.11013684187533013,
            1.1587584871328716,
            1.7780351271874384,
            -1.3409973001463626,
            -0.6305827700452404
          ],
          "torque": [
            -27.98583984375,
            3.017578125,
            -12.176513671875,
            0.09765625,
            -0.501708984375,
            -2.7978515625,
            -0.46051025390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.8320630713701824,
            -8.221326743925061,
            -0.9474052707558744,
            9.463425646744739,
            -3.7327441616192836,
            2.1317043210435926,
            3.965962204449003
          ],
          "torque": [
            39.169921875,
            3.720703125,
            8.41064453125,
            0.250244140625,
            1.8310546875,
            2.984619140625,
            0.9429931640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.8,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.8,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.0,
            -17.2,
            0.3,
            1.0,
            0.3,
            -0.1
          ],
          "actual_contact_FT": [
            0.0,
            -17.2,
            0.3,
            1.0,
            0.3,
            -0.1
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -217,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 133,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.370085537712206,
          -0.3425895358103118,
          -0.11274940623068226,
          -1.4429246441186623,
          -0.08825161047381917,
          -0.5107503937374342,
          0.3675237441201377
        ],
        "act_joint_pos_r": [
          -0.44908055808879155,
          -0.8165056065959171,
          0.1428448279533606,
          -0.7422962548927973,
          0.03487395140013527,
          0.8854308315597769,
          -0.3798865309937726
        ],
        "act_eef_pose_l": [
          473.6846875079824,
          352.0494907697837,
          96.0172314478878,
          1.7013253356674336,
          -0.08666774790597213,
          0.8323185713389739
        ],
        "act_eef_pose_r": [
          563.7046644042034,
          -301.3587481268787,
          10.617743346919951,
          1.6933992234057182,
          0.023448671232166804,
          2.4388054959323635
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 45,
      "colors": {
        "rgb_main": "colors/000045_rgb_main.jpg",
        "rgb_wrist_0": "colors/000045_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000045_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000045_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36944348520788023,
          -0.3408234887960383,
          -0.1133890487527045,
          -1.450436278153475,
          -0.09467609060747838,
          -0.5030900080172969,
          0.3627325702024949
        ],
        "joint_pos_r": [
          -0.46521173380500375,
          -0.743367747721799,
          0.15089916982996007,
          -0.8249639086782307,
          0.06323740291973783,
          0.8642681796664289,
          -0.4123698593829254
        ],
        "eef_pose_l": [
          473.43913193227087,
          351.30953423865805,
          97.29762078286318,
          1.6982053022948447,
          -0.07731258195220192,
          0.8365433379835248
        ],
        "eef_pose_r": [
          549.586897634687,
          -318.39630556430194,
          16.897810696873137,
          1.6810187715114655,
          0.03868435430430122,
          2.4217842984982
        ],
        "joint_status_l": {
          "velocity": [
            0.06933962540411898,
            -0.19072745233605914,
            0.06907935499178564,
            0.8112325497364736,
            0.6938233912081593,
            -0.8272972579463911,
            0.5174315222782333
          ],
          "torque": [
            -20.95458984375,
            2.1533203125,
            -11.859130859375,
            -0.128173828125,
            -0.677490234375,
            -2.5360107421875,
            0.13092041015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.7421155963979196,
            -7.898655800003596,
            -0.8698432680169788,
            8.927843296164362,
            -3.063162420970711,
            2.2854989972911355,
            3.508096000267802
          ],
          "torque": [
            40.13671875,
            1.552734375,
            7.9345703125,
            0.01220703125,
            1.8621826171875,
            2.874755859375,
            0.5181884765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -17.0,
            -7.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -17.0,
            -7.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.3,
            -1.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.3,
            -1.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -244,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 106,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3718107055491207,
          -0.3396314128488771,
          -0.11358978625377907,
          -1.4479130517819805,
          -0.08680602744617423,
          -0.5088852032663442,
          0.3677330310968706
        ],
        "act_joint_pos_r": [
          -0.44673334799010167,
          -0.8315717903890686,
          0.14135259472492182,
          -0.7165621121777387,
          0.039701036903182274,
          0.899597860424825,
          -0.379795074769295
        ],
        "act_eef_pose_l": [
          472.5342875079824,
          351.87589076978367,
          95.74683144788769,
          1.70276313106873,
          -0.08745655671609336,
          0.8316326700611695
        ],
        "act_eef_pose_r": [
          566.6078644042035,
          -299.8139481268787,
          10.42974334691985,
          1.6882633064791048,
          0.020020458248209184,
          2.440207387228663
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 46,
      "colors": {
        "rgb_main": "colors/000046_rgb_main.jpg",
        "rgb_wrist_0": "colors/000046_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000046_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000046_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3697207592733516,
          -0.34092455182592263,
          -0.1133326035768236,
          -1.4493542417201888,
          -0.09326007471498676,
          -0.5044701962379782,
          0.36371397385016957
        ],
        "joint_pos_r": [
          -0.46259386263997376,
          -0.7555560135292226,
          0.1495689676833335,
          -0.8105598883365608,
          0.059280011648829026,
          0.8685020337933326,
          -0.4074324555875276
        ],
        "eef_pose_l": [
          473.39074018706157,
          351.4431492719144,
          97.01803801628216,
          1.6989482609808808,
          -0.07926635525472478,
          0.8356417530872376
        ],
        "eef_pose_r": [
          552.0239524625252,
          -315.79670294543337,
          15.868820182673176,
          1.6824011116720512,
          0.03610203243418499,
          2.424445831832076
        ],
        "joint_status_l": {
          "velocity": [
            0.2257075408946818,
            0.1396548906202888,
            -0.027774909933886427,
            0.1556439228558304,
            0.6970165476275492,
            -0.47680669640159934,
            0.4340453811595424
          ],
          "torque": [
            -19.072265625,
            10.04150390625,
            -16.27197265625,
            -0.48828125,
            -0.5859375,
            -2.808837890625,
            0.40191650390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.7128850633421067,
            -8.209461775730453,
            -0.887342108751854,
            10.15146042383197,
            -2.114466909661883,
            3.358250229904769,
            2.9847490979002522
          ],
          "torque": [
            40.6201171875,
            4.658203125,
            8.697509765625,
            0.1953125,
            2.080078125,
            2.933349609375,
            0.65185546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.5,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.5,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.3,
            -17.0,
            0.7,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -17.0,
            0.7,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -221,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 68,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37346906630004467,
          -0.33728778678233634,
          -0.1142395686724533,
          -1.4510301183430625,
          -0.09261505499581311,
          -0.5061088244068607,
          0.37354506005865473
        ],
        "act_joint_pos_r": [
          -0.4473445957320896,
          -0.8389124531873334,
          0.14075653840012867,
          -0.7066016157428966,
          0.04635958497976933,
          0.9027335605064809,
          -0.3821957925103447
        ],
        "act_eef_pose_l": [
          472.0814875079824,
          352.3334907697837,
          95.91963144788774,
          1.7014104471584581,
          -0.08791363469170063,
          0.8343334469191446
        ],
        "act_eef_pose_r": [
          568.0798644042035,
          -298.7091481268787,
          9.996943346919807,
          1.6840785030632563,
          0.017035563878590697,
          2.438517351682037
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 47,
      "colors": {
        "rgb_main": "colors/000047_rgb_main.jpg",
        "rgb_wrist_0": "colors/000047_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000047_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000047_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3702098500549071,
          -0.3405269344460576,
          -0.11342492608479761,
          -1.4493241731724216,
          -0.09253778594243244,
          -0.5050506248271106,
          0.36484363441025464
        ],
        "joint_pos_r": [
          -0.4598164282640909,
          -0.7693185472066827,
          0.14809007292307524,
          -0.7935029574072658,
          0.056110640080733555,
          0.8741377160278306,
          -0.4026513422278761
        ],
        "eef_pose_l": [
          473.2070934784762,
          351.5526499308576,
          96.80578331486599,
          1.6995219566376831,
          -0.08074930493705326,
          0.8351320606354166
        ],
        "eef_pose_r": [
          554.7600163541675,
          -313.0269088639484,
          14.821984201953939,
          1.6831338772242315,
          0.03309481846167867,
          2.4271173814809104
        ],
        "joint_status_l": {
          "velocity": [
            0.35198497323296607,
            0.34981763036245894,
            -0.08797880467059649,
            -0.1842366446602739,
            -0.008344811648020034,
            -0.11428218404008206,
            0.9397262542827356
          ],
          "torque": [
            -18.6474609375,
            9.5947265625,
            -18.243408203125,
            -4.23583984375,
            -1.651611328125,
            -2.779541015625,
            0.6536865234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.3469181882279635,
            -7.51592017569358,
            -0.7919983697348698,
            9.385068101964045,
            -1.0530828918844937,
            3.0882601203297,
            2.2091342145627024
          ],
          "torque": [
            38.72314453125,
            4.34326171875,
            8.587646484375,
            0.9033203125,
            1.9061279296875,
            3.277587890625,
            0.70770263671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -17.7,
            -8.1,
            1.6,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -17.7,
            -8.1,
            1.6,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.4,
            -17.1,
            3.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -17.1,
            3.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -261,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 87,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.375759943581048,
          -0.33407651796489213,
          -0.11507698660212931,
          -1.4531366149540028,
          -0.0993384374717752,
          -0.5036524143474834,
          0.38028377476660263
        ],
        "act_joint_pos_r": [
          -0.4492006373098701,
          -0.8497994065455168,
          0.13996085862943355,
          -0.6962277271642568,
          0.05447697807923957,
          0.9051647599532129,
          -0.38406623319866634
        ],
        "act_eef_pose_l": [
          471.6262875079824,
          353.5622907697837,
          95.94763144788776,
          1.700300326340375,
          -0.08853199962740756,
          0.8386304035466791
        ],
        "act_eef_pose_r": [
          569.7126644042035,
          -295.7227481268787,
          8.815343346919917,
          1.679031095694019,
          0.010883693690637262,
          2.438461025571193
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 48,
      "colors": {
        "rgb_main": "colors/000048_rgb_main.jpg",
        "rgb_wrist_0": "colors/000048_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000048_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000048_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.371034350293229,
          -0.3395897440675183,
          -0.11366438237202013,
          -1.4498700869215047,
          -0.09339778081573766,
          -0.5049150268904435,
          0.36712333260163166
        ],
        "joint_pos_r": [
          -0.4585169256467185,
          -0.7778043585645223,
          0.14721629940203876,
          -0.7830939402266689,
          0.05548200346245132,
          0.8775058283315891,
          -0.4004517711519563
        ],
        "eef_pose_l": [
          472.9651058677694,
          351.8363074505173,
          96.66280406078911,
          1.6996890600510812,
          -0.08200295919170679,
          0.835543237159504
        ],
        "eef_pose_r": [
          556.4186436900143,
          -311.30515578101904,
          14.166995211956305,
          1.6828973914219092,
          0.030881405259303295,
          2.4283658267865604
        ],
        "joint_status_l": {
          "velocity": [
            0.5103490231443963,
            0.5954108583789974,
            -0.15255675743075514,
            -0.3527746229785578,
            -0.6415719966974542,
            0.1363581329716368,
            1.4212858352320445
          ],
          "torque": [
            -17.36572265625,
            11.513671875,
            -19.44580078125,
            -4.559326171875,
            -3.05419921875,
            -1.1517333984375,
            0.54290771484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.0061294661771747,
            -7.775235863622498,
            -0.7835644934419683,
            9.381274324844924,
            -0.10853954018430478,
            2.987076516022924,
            1.7695859078092901
          ],
          "torque": [
            39.30908203125,
            0.68115234375,
            8.526611328125,
            1.8798828125,
            2.3675537109375,
            3.0999755859375,
            0.692138671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -17.0,
            -8.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -17.0,
            -8.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.6,
            0.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.6,
            0.6,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -227,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 148,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37813680535503713,
          -0.3328861803309075,
          -0.11546630688956332,
          -1.4561815247933756,
          -0.10763172989494572,
          -0.499690860144927,
          0.38797084907193957
        ],
        "act_joint_pos_r": [
          -0.4509992617161646,
          -0.8590874769321531,
          0.13925198646257833,
          -0.6863834471863298,
          0.059606445922054885,
          0.9096389816742505,
          -0.3840768004166986
        ],
        "act_eef_pose_l": [
          471.4182875079824,
          353.70069076978365,
          95.76843144788772,
          1.6987312526933889,
          -0.08798344269460918,
          0.8418440071805325
        ],
        "act_eef_pose_r": [
          570.7286644042034,
          -293.1659481268787,
          7.506543346919898,
          1.675655879949606,
          0.004871834805241066,
          2.4401892938549823
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 49,
      "colors": {
        "rgb_main": "colors/000049_rgb_main.jpg",
        "rgb_wrist_0": "colors/000049_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000049_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000049_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.37207942758427864,
          -0.33854907434887505,
          -0.11394053991991789,
          -1.450750685119006,
          -0.09531023559625497,
          -0.504260426315873,
          0.3701542790850552
        ],
        "joint_pos_r": [
          -0.456885485676479,
          -0.7920837782572546,
          0.14579364114835264,
          -0.7659632152406018,
          0.055661860000176026,
          0.8830569911847737,
          -0.3973550588332967
        ],
        "eef_pose_l": [
          472.7220609727418,
          352.1355448033113,
          96.52520784695355,
          1.6996016061118024,
          -0.08301319580569398,
          0.8364111171921189
        ],
        "eef_pose_r": [
          559.0998187365792,
          -308.27703538133926,
          12.99891950078927,
          1.681869021158621,
          0.026582884571097903,
          2.430342202318919
        ],
        "joint_status_l": {
          "velocity": [
            0.6541775053077181,
            0.6115745165145015,
            -0.16477797285519014,
            -0.5865133865423644,
            -1.330682137886785,
            0.4934985914992751,
            1.9241328093193566
          ],
          "torque": [
            -18.01025390625,
            11.8798828125,
            -19.27490234375,
            -4.547119140625,
            -3.446044921875,
            -1.058349609375,
            0.5364990234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6356934389382118,
            -7.2361860369900555,
            -0.7064778696128649,
            8.594361472718859,
            0.4260027152844237,
            2.8707703040184995,
            1.4340096151399528
          ],
          "torque": [
            40.53955078125,
            2.490234375,
            8.447265625,
            -0.799560546875,
            3.8470458984375,
            2.96630859375,
            0.76995849609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.8,
            -8.3,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.8,
            -8.3,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.3,
            1.9,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.3,
            1.9,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -249,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 103,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3799606245752892,
          -0.3322388451746694,
          -0.11576242551894127,
          -1.4604027587835888,
          -0.11151699690030549,
          -0.4956617001575723,
          0.3912882618178936
        ],
        "act_joint_pos_r": [
          -0.4531467330187211,
          -0.8674982352916492,
          0.138645336713212,
          -0.6764036253224964,
          0.06687725800362454,
          0.9128767983243034,
          -0.3856827779498063
        ],
        "act_eef_pose_l": [
          471.0134875079824,
          353.0806907697837,
          95.44123144788777,
          1.6985474091648933,
          -0.08680510688988732,
          0.8428057931946703
        ],
        "act_eef_pose_r": [
          571.9174644042034,
          -291.40034812687867,
          6.276943346919779,
          1.671624690734973,
          -0.0006328738322294495,
          2.439226801202085
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 50,
      "colors": {
        "rgb_main": "colors/000050_rgb_main.jpg",
        "rgb_wrist_0": "colors/000050_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000050_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000050_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3733318294470763,
          -0.3374834397560271,
          -0.11423976184678011,
          -1.4521307691253948,
          -0.09787522824556762,
          -0.5030517273852511,
          0.3736343655739768
        ],
        "joint_pos_r": [
          -0.455927607528169,
          -0.8053563921254102,
          0.14451328534663738,
          -0.7502001257286488,
          0.05693177126535135,
          0.8883154252644924,
          -0.39496076943544084
        ],
        "eef_pose_l": [
          472.45207429962977,
          352.3501315616445,
          96.36026323316273,
          1.699410941616613,
          -0.08377629484659278,
          0.8374644832059888
        ],
        "eef_pose_r": [
          561.4675248068222,
          -305.37810550173225,
          11.821010581405261,
          1.6803741605985096,
          0.021995103121383763,
          2.4320855908125787
        ],
        "joint_status_l": {
          "velocity": [
            0.7158887598364139,
            0.5663995097262564,
            -0.16444282661143284,
            -0.8933485351771964,
            -1.4732675630075853,
            0.798099401905894,
            1.906564563226798
          ],
          "torque": [
            -18.12744140625,
            10.0927734375,
            -19.23828125,
            -4.827880859375,
            -3.717041015625,
            -0.556640625,
            0.6280517578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3003255893907486,
            -6.711121128016195,
            -0.6337197618448975,
            7.969786987561456,
            1.0740808894109666,
            2.6525500576779493,
            1.0019935282294945
          ],
          "torque": [
            40.84716796875,
            2.35107421875,
            7.867431640625,
            -0.06103515625,
            4.46044921875,
            3.10546875,
            0.82122802734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.2,
            -9.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.2,
            -9.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.9,
            -17.0,
            0.9,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -17.0,
            0.9,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -276,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 80,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.38152524212435784,
          -0.3323937158573798,
          -0.11571507221890355,
          -1.4599764661387418,
          -0.1166891732139314,
          -0.4958215122445608,
          0.3956703628242986
        ],
        "act_joint_pos_r": [
          -0.45478362237512693,
          -0.873358326236291,
          0.13843085792977405,
          -0.6769734169608737,
          0.07060011208766959,
          0.9135877429499168,
          -0.3850443127150168
        ],
        "act_eef_pose_l": [
          471.0310875079824,
          353.21669076978367,
          95.1340314478878,
          1.697411075913021,
          -0.08571369762256613,
          0.8437704149382502
        ],
        "act_eef_pose_r": [
          571.9190644042035,
          -287.6371481268786,
          5.764143346919809,
          1.6677228947699558,
          -0.006487835255468128,
          2.444364363507853
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 51,
      "colors": {
        "rgb_main": "colors/000051_rgb_main.jpg",
        "rgb_wrist_0": "colors/000051_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000051_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000051_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.37453438411263107,
          -0.33663241931300636,
          -0.11448666639752872,
          -1.4534599092021685,
          -0.10049079434747696,
          -0.5018483641046845,
          0.3768525409291205
        ],
        "joint_pos_r": [
          -0.45551994171842786,
          -0.8175260274488282,
          0.14338856118157525,
          -0.7362909338202711,
          0.05908026131723044,
          0.8930096958361039,
          -0.39316085056561906
        ],
        "eef_pose_l": [
          472.21751234694693,
          352.4791798163068,
          96.18887360567412,
          1.699167908554512,
          -0.08419815302041046,
          0.8384082306120381
        ],
        "eef_pose_r": [
          563.5142356064667,
          -302.5322164165056,
          10.694910756729683,
          1.6784278274543596,
          0.01721470677444994,
          2.433764530144226
        ],
        "joint_status_l": {
          "velocity": [
            0.7549903980144101,
            0.45776647210749033,
            -0.1326639159954235,
            -0.7037673926397758,
            -1.749373322568859,
            0.6508808041907344,
            2.0322648262318666
          ],
          "torque": [
            -18.6474609375,
            10.83984375,
            -19.6044921875,
            -4.84619140625,
            -3.7664794921875,
            -0.53466796875,
            0.65460205078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.0795201437555626,
            -6.029710432242652,
            -0.5354161599391283,
            6.406102882910325,
            1.2441071902271617,
            2.222363543181949,
            0.8765602351030743
          ],
          "torque": [
            41.19873046875,
            2.65869140625,
            8.0810546875,
            -0.933837890625,
            4.764404296875,
            3.05419921875,
            0.85693359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.8,
            -8.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.8,
            -8.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.3,
            0.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.3,
            0.8,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -234,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 112,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3815567641961834,
          -0.3335827949180529,
          -0.11535909624381534,
          -1.457822267220415,
          -0.11695538482853593,
          -0.4975469247421218,
          0.3957933693011431
        ],
        "act_joint_pos_r": [
          -0.45501936928426595,
          -0.8764234066295693,
          0.1384996358210756,
          -0.6835414308507456,
          0.06932316814689887,
          0.916645673885369,
          -0.38404450057447814
        ],
        "act_eef_pose_l": [
          471.30228750798244,
          353.19589076978366,
          94.91243144788773,
          1.6972589913911895,
          -0.08529303965274986,
          0.8431316187387977
        ],
        "act_eef_pose_r": [
          570.6934644042035,
          -283.01474812687866,
          6.213743346919955,
          1.6642901594608082,
          -0.008998178702043107,
          2.4563968833621215
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 52,
      "colors": {
        "rgb_main": "colors/000052_rgb_main.jpg",
        "rgb_wrist_0": "colors/000052_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000052_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000052_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3754172157809202,
          -0.3361673477560091,
          -0.11462078652041771,
          -1.4541559568574551,
          -0.10254761135885838,
          -0.5011891132369624,
          0.379231143027839
        ],
        "joint_pos_r": [
          -0.455406752032668,
          -0.827618644911525,
          0.14251695657354352,
          -0.7262766634439531,
          0.06102499788973887,
          0.8968685497325224,
          -0.391653690234475
        ],
        "eef_pose_l": [
          472.0840017237563,
          352.56994828120145,
          96.04432001129815,
          1.6989256981738174,
          -0.08436605413825041,
          0.8390424068394626
        ],
        "eef_pose_r": [
          564.9673618524822,
          -299.6109512717325,
          9.824039648527986,
          1.6762926651993184,
          0.012783114789402602,
          2.4364708159880815
        ],
        "joint_status_l": {
          "velocity": [
            0.6630516731842562,
            0.27912347419256633,
            -0.07973509846581628,
            -0.3959498412822171,
            -1.5559936431457366,
            0.3933447563597703,
            1.7886676835834336
          ],
          "torque": [
            -18.33251953125,
            11.6748046875,
            -19.17724609375,
            -4.1259765625,
            -3.8653564453125,
            -0.4412841796875,
            0.6427001953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.04183610293795326,
            -5.270758812827125,
            -0.4338578453133568,
            4.615268999983435,
            0.8961759564762306,
            2.1358664144948136,
            0.8217682465208043
          ],
          "torque": [
            38.84033203125,
            3.25927734375,
            7.708740234375,
            0.06103515625,
            5.0189208984375,
            3.2794189453125,
            0.84228515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.5,
            -8.5,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.5,
            -8.5,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.2,
            0.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.2,
            0.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -246,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 45,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3813198761970747,
          -0.3349015175684011,
          -0.11502781776492836,
          -1.4574320330293886,
          -0.11841716858936573,
          -0.4964102606978473,
          0.39738180978704774
        ],
        "act_joint_pos_r": [
          -0.45438352227569734,
          -0.8816002536375117,
          0.1380814234904743,
          -0.6758755545109564,
          0.06942849945563045,
          0.9256181154471763,
          -0.3828945980112924
        ],
        "act_eef_pose_l": [
          471.69988750798245,
          352.89269076978366,
          94.86603144788778,
          1.6968245111354097,
          -0.08548681801509903,
          0.8435267446977393
        ],
        "act_eef_pose_r": [
          570.7902644042034,
          -281.47394812687867,
          6.325743346919808,
          1.6616338154519912,
          -0.010846463168591178,
          2.4622064824635643
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 53,
      "colors": {
        "rgb_main": "colors/000053_rgb_main.jpg",
        "rgb_wrist_0": "colors/000053_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000053_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000053_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3765640525693521,
          -0.3357554021268255,
          -0.11474110391271349,
          -1.4548263490343756,
          -0.10535615871175001,
          -0.5004345532590139,
          0.38245432184079753
        ],
        "joint_pos_r": [
          -0.4552965733963252,
          -0.8371453799788283,
          0.14173323176412939,
          -0.7177526574737946,
          0.06259978053644319,
          0.901128546166753,
          -0.39014845065613796
        ],
        "eef_pose_l": [
          471.9595183682731,
          352.66936398644293,
          95.82914318582202,
          1.6985733020923504,
          -0.08455383909266524,
          0.839832566059498
        ],
        "eef_pose_r": [
          566.1042909074442,
          -296.4170865986539,
          9.119599397891108,
          1.6738848808384221,
          0.008505677533907923,
          2.4405415907141514
        ],
        "joint_status_l": {
          "velocity": [
            0.5136138035646276,
            0.09221681252036262,
            -0.030964182799353424,
            -0.2814055718474151,
            -1.4105474649087624,
            0.43461077844630935,
            1.6121211512230005
          ],
          "torque": [
            -17.5048828125,
            10.927734375,
            -15.0390625,
            -4.827880859375,
            -3.775634765625,
            -0.3570556640625,
            0.51361083984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.09860661278127125,
            -4.800984757661553,
            -0.3943836618303109,
            4.522593733214286,
            0.7374798924654757,
            2.6447954782122807,
            0.783392980702402
          ],
          "torque": [
            41.71875,
            3.427734375,
            7.391357421875,
            0.91552734375,
            5.123291015625,
            3.0377197265625,
            0.6683349609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.3,
            -8.1,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.5,
            -16.3,
            -8.1,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.6,
            -17.3,
            0.3,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -17.3,
            0.3,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -280,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 45,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.38083027509243816,
          -0.3363560496282831,
          -0.11465033551356628,
          -1.4565408837188774,
          -0.11834980656367189,
          -0.4974507342521202,
          0.39730093425989954
        ],
        "act_joint_pos_r": [
          -0.45373011460582596,
          -0.8904572573411392,
          0.13739466917962642,
          -0.6652374063389878,
          0.0666734241201219,
          0.9419776906995497,
          -0.3801166015047325
        ],
        "act_eef_pose_l": [
          471.9198875079824,
          352.36149076978364,
          94.87643144788767,
          1.6963350588190809,
          -0.08527080353278343,
          0.8420399699099094
        ],
        "act_eef_pose_r": [
          570.1966644042035,
          -277.7603481268787,
          6.152943346919983,
          1.6582718958711178,
          -0.013881825910014672,
          2.4763582619586852
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 54,
      "colors": {
        "rgb_main": "colors/000054_rgb_main.jpg",
        "rgb_wrist_0": "colors/000054_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000054_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000054_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3774210297652768,
          -0.3357189100187275,
          -0.11476288307463488,
          -1.4552423828021641,
          -0.10781938842321272,
          -0.4997631747124165,
          0.3852692244958149
        ],
        "joint_pos_r": [
          -0.45505279472596394,
          -0.8461215501842113,
          0.1410010154034826,
          -0.7090077959152217,
          0.06345995612702357,
          0.9075201696558762,
          -0.3885158206369055
        ],
        "eef_pose_l": [
          471.92948479231427,
          352.6648976916069,
          95.6494382200355,
          1.698191800569622,
          -0.08471334707975475,
          0.8403985138305692
        ],
        "eef_pose_r": [
          566.9109384231515,
          -293.33159407135884,
          8.573548575569959,
          1.6713192436525723,
          0.00463786069727403,
          2.446117826041577
        ],
        "joint_status_l": {
          "velocity": [
            0.3681876362193748,
            -0.06880904841732871,
            0.012154778109452202,
            -0.1402339630249827,
            -1.1372516177259318,
            0.2497362041364859,
            1.2993863311696607
          ],
          "torque": [
            -17.40234375,
            5.6103515625,
            -14.849853515625,
            -5.224609375,
            -3.6712646484375,
            -0.5401611328125,
            0.5712890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.1428452399800939,
            -4.788115155040629,
            -0.38947390525767567,
            4.727062656972869,
            0.3470443077299157,
            3.721302518766123,
            0.9070889131175264
          ],
          "torque": [
            41.81396484375,
            0.703125,
            7.2998046875,
            -0.52490234375,
            5.0006103515625,
            3.1219482421875,
            0.582275390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.6,
            -8.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.6,
            -8.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.2,
            0.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.2,
            0.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -253,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 47,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.38070068528256196,
          -0.33724060384282045,
          -0.11440254950747095,
          -1.4553697724366468,
          -0.11947419529495397,
          -0.4991373077924531,
          0.3992072852632327
        ],
        "act_joint_pos_r": [
          -0.45321406037669426,
          -0.894325193994444,
          0.13721742179645635,
          -0.6644903444119827,
          0.06139167383958233,
          0.9542561561892728,
          -0.3764571755734662
        ],
        "act_eef_pose_l": [
          472.0446875079824,
          352.1350907697837,
          94.9284314478878,
          1.6954631572893784,
          -0.08596204796298877,
          0.8408466271893048
        ],
        "act_eef_pose_r": [
          568.4814644042035,
          -274.0547481268787,
          6.387343346919806,
          1.6562986114914733,
          -0.01611868902133285,
          2.492118528450718
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 55,
      "colors": {
        "rgb_main": "colors/000055_rgb_main.jpg",
        "rgb_wrist_0": "colors/000055_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000055_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000055_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.378014469348708,
          -0.33589533956366713,
          -0.1147251179153488,
          -1.4553875295095322,
          -0.10976232527307843,
          -0.4994759206996841,
          0.3875339831731815
        ],
        "joint_pos_r": [
          -0.45473772509968124,
          -0.8549900867802516,
          0.1402969452277388,
          -0.7006394232938229,
          0.06340180549285071,
          0.9155812720844972,
          -0.38646688964795706
        ],
        "eef_pose_l": [
          471.9367453423768,
          352.5941808263978,
          95.51718844666672,
          1.6977970554626418,
          -0.08486242131184933,
          0.8405984514006045
        ],
        "eef_pose_r": [
          567.3728196184292,
          -289.93269576427286,
          8.117756346546628,
          1.6686257881347983,
          0.0007960945842304756,
          2.453779866561156
        ],
        "joint_status_l": {
          "velocity": [
            0.2901027647324028,
            -0.14528425721849203,
            0.03483636060741535,
            0.0019177073120602017,
            -1.0488510281549956,
            0.036569115432705246,
            1.2606794439724567
          ],
          "torque": [
            -16.9189453125,
            5.44921875,
            -15.167236328125,
            -3.21044921875,
            -3.80126953125,
            -1.2890625,
            0.6683349609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.16455093691236655,
            -4.2480662891151155,
            -0.33257872169345504,
            3.903985377345265,
            -0.21708781589013793,
            4.176764296238034,
            1.0810172371460425
          ],
          "torque": [
            41.865234375,
            1.38427734375,
            7.3974609375,
            -0.93994140625,
            3.01025390625,
            2.93701171875,
            0.60791015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.8,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.8,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.5,
            0.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.5,
            0.0,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -295,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 70,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37906567447729433,
          -0.33898130520108893,
          -0.11382710838925211,
          -1.450095911376466,
          -0.11464401629385344,
          -0.5035443362947472,
          0.39495210243031875
        ],
        "act_joint_pos_r": [
          -0.45342928610647704,
          -0.8955960332378382,
          0.1372812003042395,
          -0.6685183857594873,
          0.05617200734098393,
          0.9632362061172578,
          -0.372521091845289
        ],
        "act_eef_pose_l": [
          472.63508750798246,
          352.5446907697837,
          94.87643144788767,
          1.696292419507314,
          -0.08662522336415063,
          0.8392994471117843
        ],
        "act_eef_pose_r": [
          566.3254644042034,
          -270.6867481268787,
          6.5297433469197586,
          1.655030593957295,
          -0.018907673710297643,
          2.5068153200665058
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 56,
      "colors": {
        "rgb_main": "colors/000056_rgb_main.jpg",
        "rgb_wrist_0": "colors/000056_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000056_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000056_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3784078547191491,
          -0.3361678275228985,
          -0.11465511957931453,
          -1.4552290856739758,
          -0.11121647081312443,
          -0.49955021632808355,
          0.38932753547042226
        ],
        "joint_pos_r": [
          -0.45462786620896395,
          -0.857826216789434,
          0.14007490620367097,
          -0.6980330114983032,
          0.06325687148585286,
          0.9183697988530636,
          -0.3857451717607928
        ],
        "eef_pose_l": [
          471.9718174859397,
          352.5303071351852,
          95.4190301302476,
          1.6974371010464577,
          -0.08506250029497876,
          0.8405901866199968
        ],
        "eef_pose_r": [
          567.4714612041452,
          -288.7900098891541,
          7.984454857378097,
          1.6677433948982714,
          -0.0004416092558949759,
          2.4565307552641564
        ],
        "joint_status_l": {
          "velocity": [
            0.07104243859457071,
            -0.3038466277671681,
            0.08942257114907814,
            0.5543664739668941,
            -0.37016399451528237,
            -0.43135223434509484,
            0.6074353163216806
          ],
          "torque": [
            -17.17529296875,
            4.951171875,
            -15.05126953125,
            -3.594970703125,
            -3.91845703125,
            -1.16455078125,
            0.5804443359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.1526865266368027,
            -3.941773281752603,
            -0.30859921433190607,
            3.622501205360784,
            -0.20143540477757238,
            3.8756122872358745,
            1.0030740041453434
          ],
          "torque": [
            42.01904296875,
            3.30322265625,
            7.38525390625,
            -0.6103515625,
            2.9241943359375,
            3.0194091796875,
            0.63812255859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.8,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.8,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.4,
            0.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.4,
            0.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -303,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 40,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37749219631416503,
          -0.33962390295655326,
          -0.11363936129690266,
          -1.4488920049626801,
          -0.10974040278552294,
          -0.5042143064204847,
          0.3912577391768182
        ],
        "act_joint_pos_r": [
          -0.45244377779541756,
          -0.8966569346867996,
          0.1372079466399468,
          -0.667370792318408,
          0.04884715413091634,
          0.9771051582030926,
          -0.36701887346004075
        ],
        "act_eef_pose_l": [
          472.8758875079824,
          352.51429076978366,
          95.02283144788775,
          1.6974476848952489,
          -0.08803612506227891,
          0.8383234199345051
        ],
        "act_eef_pose_r": [
          564.2366644042035,
          -268.6499481268787,
          6.871343346919957,
          1.6548733374695486,
          -0.02087601836676371,
          2.5216887936844135
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 57,
      "colors": {
        "rgb_main": "colors/000057_rgb_main.jpg",
        "rgb_wrist_0": "colors/000057_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000057_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000057_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3783339146255556,
          -0.33678066039744725,
          -0.11447493455164087,
          -1.4541070070455078,
          -0.111246442207067,
          -0.5003896838853531,
          0.38992521718039186
        ],
        "joint_pos_r": [
          -0.4543422186857766,
          -0.8645649556999547,
          0.13957488210960084,
          -0.6926818336830417,
          0.06154086530756053,
          0.9271910625500327,
          -0.38305918257613875
        ],
        "eef_pose_l": [
          472.1277636025242,
          352.5293604246972,
          95.33480081303152,
          1.6973660157275254,
          -0.0855351628253872,
          0.840223008669156
        ],
        "eef_pose_r": [
          567.2025021060755,
          -285.4676447586552,
          7.734728469660894,
          1.6654997268438245,
          -0.0038440346295684053,
          2.466271077368924
        ],
        "joint_status_l": {
          "velocity": [
            -0.0909028965927483,
            -0.30706114009904084,
            0.09023925004736366,
            0.563203614143859,
            0.16264746049643453,
            -0.4130470516225948,
            0.1439081312701873
          ],
          "torque": [
            -24.42626953125,
            4.63623046875,
            -12.2802734375,
            -0.872802734375,
            -1.922607421875,
            -2.2393798828125,
            0.6280517578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.20502556925272586,
            -3.4658315113427207,
            -0.25562149156976854,
            2.7335118467579633,
            -1.3708803751222298,
            5.390563344362498,
            1.7323022930133547
          ],
          "torque": [
            42.4072265625,
            1.70654296875,
            7.28759765625,
            -1.13525390625,
            2.5433349609375,
            3.7518310546875,
            0.66558837890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.8,
            -7.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.8,
            -7.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.8,
            0.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.8,
            0.6,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -246,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 34,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37674938860171525,
          -0.340003553874352,
          -0.11352581442020987,
          -1.448046141211331,
          -0.10772420544062362,
          -0.5048956650610523,
          0.38970268558694393
        ],
        "act_joint_pos_r": [
          -0.45212993994403355,
          -0.8963242492866675,
          0.13728815719277512,
          -0.6692261424375009,
          0.04606757556893504,
          0.9799672609550106,
          -0.3656637984733935
        ],
        "act_eef_pose_l": [
          473.00788750798245,
          352.51749076978365,
          95.11003144788769,
          1.6978099111928227,
          -0.0886107925553957,
          0.8377804596001559
        ],
        "act_eef_pose_r": [
          563.4462644042035,
          -267.81474812687867,
          7.040943346919903,
          1.6551362080992769,
          -0.020845877205832673,
          2.526603989300148
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 58,
      "colors": {
        "rgb_main": "colors/000058_rgb_main.jpg",
        "rgb_wrist_0": "colors/000058_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000058_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000058_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.37812165654089824,
          -0.3372858382697168,
          -0.1143262762422923,
          -1.4531655510146293,
          -0.11079831487202828,
          -0.5010862054686714,
          0.38998960386143416
        ],
        "joint_pos_r": [
          -0.45396071470724725,
          -0.8706075424698966,
          0.13913322686319846,
          -0.6880308823431844,
          0.05894087074974019,
          0.9368330400092459,
          -0.37992926611763184
        ],
        "eef_pose_l": [
          472.2640989400029,
          352.52736134553857,
          95.29227765970421,
          1.6974137176814819,
          -0.0860037161846207,
          0.8398572165814783
        ],
        "eef_pose_r": [
          566.6390232959998,
          -282.20290706721704,
          7.575680023620606,
          1.6634896939721586,
          -0.007073798824271166,
          2.477064121747179
        ],
        "joint_status_l": {
          "velocity": [
            -0.14820056648989777,
            -0.2935046288441434,
            0.08644732715723524,
            0.5528799524352479,
            0.33199402695127667,
            -0.41140950210216687,
            -0.030986259754062218
          ],
          "torque": [
            -25.81787109375,
            3.837890625,
            -12.103271484375,
            -0.28076171875,
            -1.50146484375,
            -2.3712158203125,
            -0.00091552734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.19771784305122608,
            -2.777322423463957,
            -0.1992616474976172,
            2.0308520130356555,
            -1.3902748755613703,
            4.658358471203883,
            1.5406250672702626
          ],
          "torque": [
            43.388671875,
            2.16796875,
            7.318115234375,
            -0.531005859375,
            2.2979736328125,
            3.387451171875,
            0.6207275390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.6,
            -8.6,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -16.6,
            -8.6,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.3,
            0.9,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.3,
            0.9,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -20,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37497747218107624,
          -0.3407270661567071,
          -0.11332681224805716,
          -1.4470287054965063,
          -0.10141149525301676,
          -0.5048011875051619,
          0.38425079513534927
        ],
        "act_joint_pos_r": [
          -0.45184709830455155,
          -0.8965761140863208,
          0.137273870772625,
          -0.6686304109355479,
          0.04383222080647098,
          0.9892418893635521,
          -0.36331359737906926
        ],
        "act_eef_pose_l": [
          473.3046875079824,
          352.4758907697837,
          95.17563144788782,
          1.6996583536214942,
          -0.08963005986860932,
          0.8370929291698967
        ],
        "act_eef_pose_r": [
          562.0678644042034,
          -266.76514812687867,
          7.492943346919901,
          1.6533418589810642,
          -0.022496786465372686,
          2.535488907308027
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 59,
      "colors": {
        "rgb_main": "colors/000059_rgb_main.jpg",
        "rgb_wrist_0": "colors/000059_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000059_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000059_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3777930964088766,
          -0.3377746611838878,
          -0.11418312007835964,
          -1.4522648209474058,
          -0.10992611538497686,
          -0.5017069727890598,
          0.3896256276519786
        ],
        "joint_pos_r": [
          -0.45362459965681684,
          -0.8751655310210945,
          0.1388063757625121,
          -0.6846798895523482,
          0.05656661658501497,
          0.9448667524739416,
          -0.3773038216185354
        ],
        "eef_pose_l": [
          472.40376597877656,
          352.52331315010815,
          95.26636507855751,
          1.6975831759662627,
          -0.08649229619067848,
          0.8394760112067069
        ],
        "eef_pose_r": [
          566.0530239698811,
          -279.5904759878753,
          7.497463327193685,
          1.6619128452015277,
          -0.009585798790571589,
          2.4861868896831316
        ],
        "joint_status_l": {
          "velocity": [
            -0.30407844828816977,
            -0.31885033307643695,
            0.09247851816462926,
            0.5654837906448051,
            0.9195518535195513,
            -0.33416533365926426,
            -0.5804647919021022
          ],
          "torque": [
            -27.5537109375,
            2.7392578125,
            -11.761474609375,
            0.048828125,
            -1.0601806640625,
            -2.4334716796875,
            -0.05126953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.1919644843551005,
            -2.3122747741455285,
            -0.16550565757944558,
            1.7332925698827495,
            -1.3752741825389658,
            4.792373440578146,
            1.510899656258946
          ],
          "torque": [
            43.06640625,
            2.27783203125,
            7.122802734375,
            0.03662109375,
            2.156982421875,
            3.076171875,
            0.55023193359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.5,
            -8.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -16.5,
            -8.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.4,
            0.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.4,
            0.4,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -249,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -47,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3727582348727364,
          -0.34249725083050353,
          -0.1128141864286655,
          -1.4436340715370763,
          -0.09435499757869166,
          -0.5085170561102241,
          0.37755030239827836
        ],
        "act_joint_pos_r": [
          -0.45403039158799224,
          -0.8937813573751807,
          0.13767171940166217,
          -0.6790556827489175,
          0.044764801700425405,
          0.9897038175952719,
          -0.3649605328694036
        ],
        "act_eef_pose_l": [
          473.6710875079824,
          352.2398907697837,
          95.27723144788779,
          1.7009477686189667,
          -0.08987450085803807,
          0.8341043289307779
        ],
        "act_eef_pose_r": [
          560.0486644042035,
          -264.8515481268787,
          7.61054334691994,
          1.6506202430081984,
          -0.023620617555588454,
          2.542804724454631
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 60,
      "colors": {
        "rgb_main": "colors/000060_rgb_main.jpg",
        "rgb_wrist_0": "colors/000060_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000060_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000060_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3774382666102589,
          -0.3381467283267962,
          -0.11407520669560756,
          -1.451604956689726,
          -0.10885308833935908,
          -0.5020969110392538,
          0.38894828203154874
        ],
        "joint_pos_r": [
          -0.45340618397073507,
          -0.8788283931856502,
          0.13855288427038534,
          -0.6822999474872207,
          0.054356015028276604,
          0.9527329315434646,
          -0.37490254408107027
        ],
        "eef_pose_l": [
          472.5173443918662,
          352.51718113762644,
          95.25522131478941,
          1.6978412700143546,
          -0.08688868394908658,
          0.8391754248959662
        ],
        "eef_pose_r": [
          565.2941159495309,
          -277.2132487526533,
          7.499714119617352,
          1.6602625227212595,
          -0.011924581541832407,
          2.49520152055618
        ],
        "joint_status_l": {
          "velocity": [
            -0.26575796024008724,
            -0.27866826674882716,
            0.08082421655264405,
            0.49422055261238995,
            0.8036683503941378,
            -0.29205324466774485,
            -0.5073136223741059
          ],
          "torque": [
            -27.44384765625,
            3.28857421875,
            -11.9384765625,
            -0.140380859375,
            -1.0638427734375,
            -2.464599609375,
            -0.40374755859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.067412434440417,
            -1.6148725043496626,
            -0.09516299913947535,
            0.35037025811934797,
            -1.0358204895156153,
            3.9927379340838343,
            1.0737055436078613
          ],
          "torque": [
            41.81396484375,
            2.32177734375,
            6.94580078125,
            -1.20849609375,
            2.266845703125,
            3.1878662109375,
            0.77911376953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.7,
            -8.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.7,
            -8.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.5,
            0.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.5,
            0.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -232,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 51,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3714505219656731,
          -0.3440840633338973,
          -0.11237957247480233,
          -1.441265807963185,
          -0.0911484708848667,
          -0.5107991532996825,
          0.3742002669470077
        ],
        "act_joint_pos_r": [
          -0.4549192616160278,
          -0.894753209241925,
          0.13761681194595424,
          -0.678700144638345,
          0.044490805364926,
          0.9938267334333434,
          -0.36498918414892295
        ],
        "act_eef_pose_l": [
          474.01508750798246,
          351.9726907697837,
          95.32683144788784,
          1.7013202286943856,
          -0.08965509597594841,
          0.8322864420019459
        ],
        "act_eef_pose_r": [
          559.2950644042035,
          -263.92914812687866,
          7.318543346920023,
          1.6495912300971232,
          -0.024696127865470267,
          2.5472956086204954
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 61,
      "colors": {
        "rgb_main": "colors/000061_rgb_main.jpg",
        "rgb_wrist_0": "colors/000061_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000061_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000061_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3765348067379396,
          -0.33900814661399736,
          -0.11382699238751785,
          -1.4500580178959834,
          -0.10610337343013707,
          -0.5033646588394117,
          0.38673835356916475
        ],
        "joint_pos_r": [
          -0.45357583440185384,
          -0.8817115319626129,
          0.13838312077697082,
          -0.68166600091414,
          0.05252699820790598,
          0.9599613816069085,
          -0.3730248002413101
        ],
        "eef_pose_l": [
          472.7418393074135,
          352.45179569736536,
          95.26420679648218,
          1.698393739041362,
          -0.08740894057709762,
          0.83817134117366
        ],
        "eef_pose_r": [
          564.289538700495,
          -274.79476239087694,
          7.499150697409817,
          1.6583875105497143,
          -0.014214366669160806,
          2.5044429819461422
        ],
        "joint_status_l": {
          "velocity": [
            -0.5490865609623086,
            -0.5481828379605425,
            0.1563167402574006,
            0.9495306678335425,
            1.615081840596555,
            -0.802901721388416,
            -1.3540734189323445
          ],
          "torque": [
            -28.6376953125,
            3.4716796875,
            -11.602783203125,
            0.396728515625,
            -0.655517578125,
            -2.58544921875,
            -0.4962158203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.1450858600517968,
            -1.408459605870327,
            -0.08275891290621118,
            0.3203030309535393,
            -0.8678832301942108,
            3.6573501294787647,
            0.8678209429673345
          ],
          "torque": [
            33.6181640625,
            2.28515625,
            7.0556640625,
            -1.03759765625,
            2.354736328125,
            3.431396484375,
            0.7342529296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.6,
            -8.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.6,
            -8.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.3,
            0.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.3,
            0.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -20,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3698702273550912,
          -0.34473417032044473,
          -0.1122365262064803,
          -1.4413226556233045,
          -0.0841628798024776,
          -0.5110737583191546,
          0.36767446556626826
        ],
        "act_joint_pos_r": [
          -0.4595323859953839,
          -0.8987254051556696,
          0.13718293066401996,
          -0.6689093343416839,
          0.05339283458439237,
          0.9891018788709978,
          -0.37482565292271314
        ],
        "act_eef_pose_l": [
          474.03668750798244,
          351.5054907697837,
          95.34523144788777,
          1.7033182315215105,
          -0.08985301348926113,
          0.8302872421487419
        ],
        "act_eef_pose_r": [
          561.0542644042034,
          -265.64434812687864,
          4.616943346919925,
          1.649581337215939,
          -0.0229139329761131,
          2.535131675018242
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 62,
      "colors": {
        "rgb_main": "colors/000062_rgb_main.jpg",
        "rgb_wrist_0": "colors/000062_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000062_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000062_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.37539849594729613,
          -0.34007570656826613,
          -0.11352562538281173,
          -1.4482941431622054,
          -0.10259250710185899,
          -0.5048794169081948,
          0.38374662211734367
        ],
        "joint_pos_r": [
          -0.45417859057713644,
          -0.8846204080651252,
          0.1381977446625417,
          -0.6803636798564173,
          0.05155289954062952,
          0.9664304948477145,
          -0.37211819227517495
        ],
        "eef_pose_l": [
          472.999956447911,
          352.32039641451206,
          95.28107834908543,
          1.6991021195986835,
          -0.08788097599089378,
          0.836839840305951
        ],
        "eef_pose_r": [
          563.4336272314041,
          -272.71522181285974,
          7.2622269971022035,
          1.6566386341995762,
          -0.016207131171546516,
          2.5121749709831276
        ],
        "joint_status_l": {
          "velocity": [
            -0.5970353993403066,
            -0.5030992471160012,
            0.1392186050106492,
            0.7528984486491197,
            1.9903410463619764,
            -0.6689691421932764,
            -1.7357417145507092
          ],
          "torque": [
            -28.7548828125,
            3.97705078125,
            -11.529541015625,
            -0.396728515625,
            -0.904541015625,
            -2.77587890625,
            -0.68023681640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5781928522838875,
            -1.5232947586012457,
            -0.10959667945908969,
            1.2370328312583112,
            0.19870712417302538,
            2.4484372617177286,
            -0.292397126141708
          ],
          "torque": [
            29.47265625,
            3.251953125,
            7.50732421875,
            -0.927734375,
            4.0301513671875,
            2.3785400390625,
            -0.05767822265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.7,
            -8.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.7,
            -8.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.7,
            -16.9,
            -0.1,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.9,
            -0.1,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -192,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -24,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3694046500974576,
          -0.34489607200855443,
          -0.11216718990821713,
          -1.440138205276839,
          -0.0815043426403841,
          -0.5126150350787593,
          0.3649801759205139
        ],
        "act_joint_pos_r": [
          -0.462232468301532,
          -0.898684392209193,
          0.13712150727178668,
          -0.6660885848090013,
          0.05901188700644955,
          0.9794615002913929,
          -0.38148660101921666
        ],
        "act_eef_pose_l": [
          474.0470875079824,
          351.6102907697837,
          95.28923144788773,
          1.704068149046568,
          -0.08966782336300022,
          0.8294314821259133
        ],
        "act_eef_pose_r": [
          562.6422644042035,
          -267.87474812687867,
          2.924143346919891,
          1.6516555098987178,
          -0.020384967583724174,
          2.522078540048155
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 63,
      "colors": {
        "rgb_main": "colors/000063_rgb_main.jpg",
        "rgb_wrist_0": "colors/000063_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000063_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000063_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.374326393605905,
          -0.34096573702122,
          -0.1132779087224956,
          -1.446907445365885,
          -0.09895413716546635,
          -0.5061399403767144,
          0.38055182399603904
        ],
        "joint_pos_r": [
          -0.45471110692425254,
          -0.8860233644614679,
          0.13809680598235724,
          -0.6792243710566594,
          0.05173590905292735,
          0.9686855086577305,
          -0.372387490397601
        ],
        "eef_pose_l": [
          473.1967778128133,
          352.1705713517382,
          95.2929775070937,
          1.6999195951741919,
          -0.08824880392670596,
          0.8355454010853745
        ],
        "eef_pose_r": [
          563.2025248343383,
          -272.0089457336629,
          6.995655234532023,
          1.6559526733382017,
          -0.01687988817068017,
          2.5144601984108212
        ],
        "joint_status_l": {
          "velocity": [
            -0.5315326221957406,
            -0.4244636597459106,
            0.11995409408516178,
            0.731056368261207,
            1.88452222769675,
            -0.6992896033763962,
            -1.6816883934089866
          ],
          "torque": [
            -30.02197265625,
            3.88916015625,
            -11.6455078125,
            0.189208984375,
            -0.692138671875,
            -2.724609375,
            -0.6683349609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5206827829642435,
            -1.371779936486739,
            -0.0986956235086156,
            1.113991109805923,
            0.178942679765981,
            2.204902952896326,
            -0.26331378668675853
          ],
          "torque": [
            29.3115234375,
            1.09130859375,
            7.23876953125,
            -0.67138671875,
            4.2608642578125,
            2.9425048828125,
            -0.37353515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.6,
            -8.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.6,
            -8.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.5,
            0.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.5,
            0.0,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -230,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -40,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36989598776788757,
          -0.34326049844120254,
          -0.11266303727820842,
          -1.4441135561079508,
          -0.0805949221830626,
          -0.5088072762743706,
          0.36433398440648596
        ],
        "act_joint_pos_r": [
          -0.46641178046968523,
          -0.8977730934713269,
          0.1371263948217456,
          -0.6642442620258964,
          0.07238821305959721,
          0.9561735061064217,
          -0.3997495509954231
        ],
        "act_eef_pose_l": [
          473.60388750798245,
          351.47349076978367,
          95.2844314478878,
          1.7050394167576488,
          -0.0899084527709487,
          0.830589237996156
        ],
        "act_eef_pose_r": [
          566.1742644042034,
          -272.1371481268787,
          0.5945433469198633,
          1.6541772440091067,
          -0.010522393716140948,
          2.4947373974235756
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 64,
      "colors": {
        "rgb_main": "colors/000064_rgb_main.jpg",
        "rgb_wrist_0": "colors/000064_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000064_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000064_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.373545833453077,
          -0.34151682293457364,
          -0.11312412531364593,
          -1.446025620647844,
          -0.0960326260984203,
          -0.5069831477016116,
          0.37795436762357826
        ],
        "joint_pos_r": [
          -0.4556498522599331,
          -0.8877849301705137,
          0.13796366340441074,
          -0.6775099646563413,
          0.052525129901733525,
          0.9705646006186247,
          -0.3733889393303299
        ],
        "eef_pose_l": [
          473.31080197516246,
          352.0688960743689,
          95.29414001965505,
          1.7006431642076743,
          -0.0884997927573867,
          0.8346020049129597
        ],
        "eef_pose_r": [
          563.0665554171655,
          -271.3452925382055,
          6.494183777288924,
          1.6552854685591016,
          -0.017472763728928215,
          2.5160410453993887
        ],
        "joint_status_l": {
          "velocity": [
            -0.39417170852740213,
            -0.18831140076791542,
            0.049796039171545736,
            0.20649688000951016,
            1.6672228507491615,
            -0.19700007565104372,
            -1.4709580038587688
          ],
          "torque": [
            -31.025390625,
            3.58154296875,
            -15.24658203125,
            0.09765625,
            -0.6646728515625,
            -2.841796875,
            -0.56304931640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.7109015655717421,
            -1.1771071832571423,
            -0.0909501798912471,
            1.2334726441816102,
            0.7005491057178737,
            0.9608368262910005,
            -0.874521669761652
          ],
          "torque": [
            27.83203125,
            2.783203125,
            6.99462890625,
            -0.0244140625,
            4.5135498046875,
            2.7960205078125,
            -0.44219970703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.8,
            -8.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.8,
            -8.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -16.8,
            0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -16.8,
            0.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -272,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -36,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3704861981225589,
          -0.34099449013276734,
          -0.11326090618395744,
          -1.4465356585746667,
          -0.08077734254292335,
          -0.5055657521380684,
          0.36422720195124436
        ],
        "act_joint_pos_r": [
          -0.46817638170985326,
          -0.9013010268338525,
          0.13678017956459584,
          -0.6570617075384774,
          0.08970024394899667,
          0.9431558605072625,
          -0.42274031520656974
        ],
        "act_eef_pose_l": [
          473.31268750798245,
          352.15989076978366,
          95.34203144788789,
          1.705787805855439,
          -0.09010023786838187,
          0.8335227525913419
        ],
        "act_eef_pose_r": [
          569.7606644042035,
          -274.5803481268787,
          0.27134334691982076,
          1.649260750894714,
          0.0023930288717492238,
          2.4749136010722386
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 65,
      "colors": {
        "rgb_main": "colors/000065_rgb_main.jpg",
        "rgb_wrist_0": "colors/000065_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000065_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000065_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3729592154443694,
          -0.3415997304472159,
          -0.11310206822458861,
          -1.445928466475586,
          -0.0933212547397307,
          -0.5069832501130433,
          0.37553554822587043
        ],
        "joint_pos_r": [
          -0.45773568889484856,
          -0.88988921480952,
          0.13778521033467178,
          -0.6746074318992423,
          0.05712241281499856,
          0.9673724788018205,
          -0.37948472910589615
        ],
        "eef_pose_l": [
          473.3330573473628,
          352.0302793111484,
          95.29842274247883,
          1.7014922414231768,
          -0.08876740469718104,
          0.8341770191449547
        ],
        "eef_pose_r": [
          563.8355412663681,
          -271.5723065049733,
          5.4070278850718125,
          1.654667125571678,
          -0.015516197697299712,
          2.511220007385399
        ],
        "joint_status_l": {
          "velocity": [
            -0.2670779937115064,
            0.0653640261516486,
            -0.017153993681851,
            -0.06557481267321918,
            1.3547025624389697,
            0.15308526628876606,
            -1.221265378362979
          ],
          "torque": [
            -30.46142578125,
            10.634765625,
            -14.898681640625,
            -2.67333984375,
            -0.5291748046875,
            -1.1810302734375,
            -0.5328369140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.1275615683694618,
            -1.2324393497715747,
            -0.10854012194849716,
            1.8948823443958318,
            3.5183019957011896,
            -2.6153176411414236,
            -4.671465521361995
          ],
          "torque": [
            27.099609375,
            0.5712890625,
            7.281494140625,
            0.250244140625,
            5.9271240234375,
            0.5108642578125,
            -0.5474853515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -16.8,
            -7.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.1,
            -16.8,
            -7.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.7,
            -1.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.7,
            -1.8,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -225,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -47,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3695592955906296,
          -0.3394394364630181,
          -0.113686114731701,
          -1.4485521533405634,
          -0.0776399048802497,
          -0.5034891399744681,
          0.3616738872237809
        ],
        "act_joint_pos_r": [
          -0.46845681954020524,
          -0.9083069965139453,
          0.13618036773105446,
          -0.6461836996864427,
          0.1026672329089493,
          0.9411013922423479,
          -0.43567501195431213
        ],
        "act_eef_pose_l": [
          473.1110875079824,
          352.43749076978366,
          95.74203144788775,
          1.7067100578502659,
          -0.09135351259489317,
          0.8345486610435846
        ],
        "act_eef_pose_r": [
          572.4270644042034,
          -274.7971481268787,
          0.508143346919951,
          1.6427029758184186,
          0.007544756861439818,
          2.4655440441778613
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 66,
      "colors": {
        "rgb_main": "colors/000066_rgb_main.jpg",
        "rgb_wrist_0": "colors/000066_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000066_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000066_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3724604683817059,
          -0.34134555803351724,
          -0.11317047389877948,
          -1.4462288570857902,
          -0.09094702820197935,
          -0.5065436694066958,
          0.3734225428696566
        ],
        "joint_pos_r": [
          -0.45972958702591027,
          -0.8925516130855671,
          0.13755197477153483,
          -0.6705063160292766,
          0.06421577343208025,
          0.9626465092604253,
          -0.3885942530078579
        ],
        "eef_pose_l": [
          473.3089586357327,
          352.0776964469641,
          95.3447918955503,
          1.702293139616473,
          -0.08910861961812257,
          0.8341636927300061
        ],
        "eef_pose_r": [
          565.1729953141083,
          -272.13143560738314,
          4.4837465035559205,
          1.653016504615733,
          -0.011721582032357738,
          2.50373990533251
        ],
        "joint_status_l": {
          "velocity": [
            -0.313317420632675,
            0.20585505824355366,
            -0.05568756753848714,
            -0.2509085953601442,
            1.437126932953614,
            0.3298794494064339,
            -1.268817387986232
          ],
          "torque": [
            -29.6337890625,
            11.37451171875,
            -18.048095703125,
            -3.411865234375,
            -0.72509765625,
            -0.8953857421875,
            -0.46875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.9425133135994024,
            -1.7015312262840254,
            -0.1481291915349514,
            2.626765092730743,
            4.152635148074957,
            -2.3268040125365985,
            -5.084572004781851
          ],
          "torque": [
            27.23876953125,
            2.24853515625,
            7.1044921875,
            -0.469970703125,
            5.44921875,
            0.556640625,
            -0.99700927734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.5,
            -8.8,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -16.5,
            -8.8,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.4,
            1.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.4,
            1.0,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -238,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -64,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3675630021306056,
          -0.33942591342363443,
          -0.11364256198298422,
          -1.4470301515556971,
          -0.07257949073494438,
          -0.5067937685901354,
          0.357691010798443
        ],
        "act_joint_pos_r": [
          -0.46784270074273765,
          -0.9156722305754699,
          0.13567019093111554,
          -0.6393747787312795,
          0.11192621499858202,
          0.9346494696031581,
          -0.45180360020295185
        ],
        "act_eef_pose_l": [
          473.06948750798244,
          352.46469076978366,
          96.27483144788793,
          1.7070718928932596,
          -0.09283689827248094,
          0.8321344841811729
        ],
        "act_eef_pose_r": [
          575.1590644042035,
          -273.77874812687867,
          0.7289433469197775,
          1.6385629954461904,
          0.018202187039898406,
          2.4577555857016935
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 67,
      "colors": {
        "rgb_main": "colors/000067_rgb_main.jpg",
        "rgb_wrist_0": "colors/000067_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000067_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000067_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.37183959285593887,
          -0.34103122550209114,
          -0.11325210261758932,
          -1.4465010571649812,
          -0.08839453447989287,
          -0.5062797885148659,
          0.37120394631900727
        ],
        "joint_pos_r": [
          -0.46123694879272537,
          -0.895765289500441,
          0.1372798168514255,
          -0.6658102080456575,
          0.07155235218908752,
          0.9584622316032853,
          -0.3978557557959758
        ],
        "eef_pose_l": [
          473.27283468962776,
          352.13715075898716,
          95.44855300324454,
          1.7030452602181467,
          -0.08958309988464046,
          0.8340448253078941
        ],
        "eef_pose_r": [
          566.6395375134167,
          -272.5191726554681,
          3.822619574165259,
          1.650800445648811,
          -0.007648882393399644,
          2.4966125641029278
        ],
        "joint_status_l": {
          "velocity": [
            -0.461858176557417,
            0.17336859124039705,
            -0.042168367773043336,
            -0.05714050892713374,
            1.707974350443675,
            -0.05550821100186454,
            -1.459353994875734
          ],
          "torque": [
            -31.10595703125,
            10.94970703125,
            -13.275146484375,
            -3.74755859375,
            -0.82763671875,
            -1.7047119140625,
            -0.6353759765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.7134001699879988,
            -2.149886228598241,
            -0.17383447241992034,
            2.8549421639345596,
            4.360248584767468,
            -2.5717024477049932,
            -5.826195361506414
          ],
          "torque": [
            27.48046875,
            0.52001953125,
            7.257080078125,
            0.59814453125,
            5.6268310546875,
            0.90087890625,
            -0.57861328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -17.2,
            -7.4,
            1.5,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -17.2,
            -7.4,
            1.5,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.3,
            0.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.3,
            0.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -234,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -53,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36670269069791034,
          -0.3397162334286184,
          -0.11354188737525056,
          -1.4459614196361203,
          -0.07039410642840395,
          -0.5082468189357688,
          0.3556654382049701
        ],
        "act_joint_pos_r": [
          -0.4683291328345285,
          -0.9184346319664439,
          0.1355226523378338,
          -0.6384568635748531,
          0.11928573776597773,
          0.9304167254458567,
          -0.4595312187108277
        ],
        "act_eef_pose_l": [
          473.1454875079824,
          352.48389076978367,
          96.43163144788768,
          1.7073159540802434,
          -0.09312342401221875,
          0.8312131842628725
        ],
        "act_eef_pose_r": [
          576.2966644042035,
          -273.1819481268787,
          0.980143346919931,
          1.6348054900814832,
          0.020931805623439183,
          2.45325540079472
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 68,
      "colors": {
        "rgb_main": "colors/000068_rgb_main.jpg",
        "rgb_wrist_0": "colors/000068_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000068_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000068_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.371357010284327,
          -0.34085007755485525,
          -0.1132961631547704,
          -1.4465607616698286,
          -0.08660992029285344,
          -0.5063377874776871,
          0.36967910852358515
        ],
        "joint_pos_r": [
          -0.46251394731074796,
          -0.8996889620458735,
          0.13696696443309844,
          -0.6607595918517085,
          0.07961216957245097,
          0.9537147727764688,
          -0.4085029489761965
        ],
        "eef_pose_l": [
          473.2495829774877,
          352.17296692897764,
          95.54232867393733,
          1.7034969053510498,
          -0.08995028014513239,
          0.8338241107243901
        ],
        "eef_pose_r": [
          568.3428627463782,
          -272.6986004658425,
          3.2829772883798682,
          1.6481051280011214,
          -0.0025367576836067144,
          2.4890993725847013
        ],
        "joint_status_l": {
          "velocity": [
            -0.4097407959431365,
            0.15380518993035608,
            -0.037409970098933876,
            -0.05069261257339974,
            1.5152417025889875,
            -0.04924450775511957,
            -1.2946763698771235
          ],
          "torque": [
            -30.43212890625,
            11.53564453125,
            -13.53759765625,
            -1.849365234375,
            -0.670166015625,
            -1.2744140625,
            -0.56304931640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.6280215140637146,
            -2.024472642792041,
            -0.15598110587178304,
            2.408623615345107,
            4.284618996818423,
            -2.516114902864075,
            -5.510890596310158
          ],
          "torque": [
            27.0556640625,
            2.373046875,
            7.51953125,
            -0.457763671875,
            5.48583984375,
            0.7415771484375,
            -0.77728271484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.6,
            -8.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.6,
            -8.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.1,
            0.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.1,
            0.3,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -270,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -83,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3657513757419091,
          -0.3411757011004669,
          -0.11321458592248963,
          -1.446366799780304,
          -0.0657723200753124,
          -0.5086891325927468,
          0.3512781845407124
        ],
        "act_joint_pos_r": [
          -0.46729425117810713,
          -0.9250896641082911,
          0.13517473935835245,
          -0.6367204777541747,
          0.13014024659972456,
          0.9244597876801682,
          -0.4699205578597159
        ],
        "act_eef_pose_l": [
          473.15268750798236,
          351.5014907697837,
          96.29243144788784,
          1.7085357333149018,
          -0.09266994978447683,
          0.8283586563765887
        ],
        "act_eef_pose_r": [
          578.4478644042035,
          -270.8219481268787,
          2.241743346919975,
          1.6274772249702256,
          0.02451264286954815,
          2.448705479602346
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 69,
      "colors": {
        "rgb_main": "colors/000069_rgb_main.jpg",
        "rgb_wrist_0": "colors/000069_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000069_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000069_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3703497603383351,
          -0.34074392968360856,
          -0.11331867664850945,
          -1.446487934970065,
          -0.08297855935259577,
          -0.506742146906799,
          0.3665087814058902
        ],
        "joint_pos_r": [
          -0.4635243512968582,
          -0.903804161881595,
          0.1366640550884278,
          -0.6563944182562265,
          0.0880441938295568,
          0.9487989612471746,
          -0.41904148134852437
        ],
        "eef_pose_l": [
          473.2278943817738,
          352.14842762855733,
          95.70904920847997,
          1.7043566194756912,
          -0.09054695648186295,
          0.8330550979792287
        ],
        "eef_pose_r": [
          570.0559009464334,
          -272.5650636524405,
          2.987103863499584,
          1.6447923886140874,
          0.0023029799814237874,
          2.482040117407119
        ],
        "joint_status_l": {
          "velocity": [
            -0.49661088965891054,
            -0.046629937743958294,
            0.011241466860822946,
            0.013082214655568691,
            1.8582190367056883,
            -0.21026825255132664,
            -1.6448559490065406
          ],
          "torque": [
            -29.94140625,
            7.3828125,
            -13.92822265625,
            -1.904296875,
            -0.589599609375,
            -2.23388671875,
            -0.62255859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.4071371793052947,
            -2.29876644199134,
            -0.1608413550859833,
            2.1247229088690034,
            4.5462396150079964,
            -2.6285532202035,
            -5.494778203388062
          ],
          "torque": [
            28.11767578125,
            2.26318359375,
            7.635498046875,
            -0.494384765625,
            5.5352783203125,
            0.787353515625,
            -1.04736328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.6,
            -8.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.6,
            -8.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.6,
            -17.3,
            0.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -17.3,
            0.6,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -269,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -129,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3666825708216933,
          -0.34282580714011657,
          -0.11284852836797475,
          -1.4468548512851847,
          -0.06439587048955107,
          -0.5084032892641211,
          0.34955700069098594
        ],
        "act_joint_pos_r": [
          -0.46338751210708296,
          -0.9400297426079215,
          0.13405551885104858,
          -0.6166289748877252,
          0.1337755097461124,
          0.9316936442964706,
          -0.475245939701922
        ],
        "act_eef_pose_l": [
          473.10708750798244,
          350.53829076978366,
          95.51483144788794,
          1.709775355162335,
          -0.09086859575461709,
          0.8263643982179143
        ],
        "act_eef_pose_r": [
          581.5742644042034,
          -267.9443481268787,
          3.142543346919865,
          1.6222815703658524,
          0.029223019658409306,
          2.449241879130283
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 70,
      "colors": {
        "rgb_main": "colors/000070_rgb_main.jpg",
        "rgb_wrist_0": "colors/000070_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000070_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000070_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3695177198553733,
          -0.3409948801787466,
          -0.11326133567049779,
          -1.4465121207523615,
          -0.07938174951658483,
          -0.5071052232905982,
          0.36327495276660515
        ],
        "joint_pos_r": [
          -0.4639092185712411,
          -0.9086448234053333,
          0.136320033791116,
          -0.6514672676894571,
          0.09574923868946834,
          0.9450171644521883,
          -0.4284212991578075
        ],
        "eef_pose_l": [
          473.2078549696867,
          351.9201060644175,
          95.75038132598803,
          1.7053112507859352,
          -0.09079470872287397,
          0.8319028202845205
        ],
        "eef_pose_r": [
          571.9371654013225,
          -271.97579344146976,
          2.942878183432043,
          1.6409368321498425,
          0.006987958915102985,
          2.475899653793767
        ],
        "joint_status_l": {
          "velocity": [
            -0.3061870651328569,
            -0.1977342799670545,
            0.04458187380051992,
            -0.03701380588161385,
            1.6184272019608148,
            -0.14018699054618722,
            -1.481495129803445
          ],
          "torque": [
            -30.60791015625,
            4.541015625,
            -13.873291015625,
            -2.52685546875,
            -0.673828125,
            -2.6348876953125,
            -0.53558349609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.05634263639198167,
            -3.3894713067672555,
            -0.24456040060383266,
            3.7624246558038976,
            4.106716152999068,
            -1.4388977387973512,
            -5.056912033115868
          ],
          "torque": [
            34.00634765625,
            1.56005859375,
            7.55615234375,
            -0.714111328125,
            5.328369140625,
            1.0693359375,
            -0.79925537109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.7,
            -8.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.7,
            -8.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -17.9,
            -1.5,
            1.2,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -17.9,
            -1.5,
            1.2,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -223,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -108,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.368047681349663,
          -0.3432160181813575,
          -0.11256323245592467,
          -1.440439283127177,
          -0.06779813112446352,
          -0.5145851672544207,
          0.3526063020270313
        ],
        "act_joint_pos_r": [
          -0.46015638096142064,
          -0.9553755300019259,
          0.13290676034796547,
          -0.5935142082004365,
          0.134463112740975,
          0.944961523412233,
          -0.4770098770827136
        ],
        "act_eef_pose_l": [
          473.3862875079824,
          351.8726907697837,
          94.98523144788764,
          1.709036202837486,
          -0.09013866809190918,
          0.8267199261616761
        ],
        "act_eef_pose_r": [
          583.8870644042034,
          -264.99954812687866,
          3.4937433469197003,
          1.6180280427879714,
          0.03170807923742277,
          2.453742653968447
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 71,
      "colors": {
        "rgb_main": "colors/000071_rgb_main.jpg",
        "rgb_wrist_0": "colors/000071_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000071_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000071_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36903672065498355,
          -0.34132440011941,
          -0.11318410974238782,
          -1.4464774138724363,
          -0.07678266136553889,
          -0.5074265652738605,
          0.3608948014806115
        ],
        "joint_pos_r": [
          -0.4638366988503041,
          -0.91300747891866,
          0.1360052552656552,
          -0.6466245765489979,
          0.10103507422103986,
          0.9431651307321374,
          -0.43493015058771606
        ],
        "eef_pose_l": [
          473.1940843271076,
          351.69411558278705,
          95.70166418463762,
          1.7060839395798382,
          -0.09079711167967346,
          0.8309231185720024
        ],
        "eef_pose_r": [
          573.1685293302172,
          -271.46501687833853,
          2.9726987372064,
          1.6385263053462042,
          0.009820833603013574,
          2.4726078480032494
        ],
        "joint_status_l": {
          "velocity": [
            -0.10681309469084965,
            -0.20428872551647714,
            0.06705276932239546,
            0.6520988878584433,
            0.9703006485483057,
            -0.7731062123514931,
            -0.8951315404930327
          ],
          "torque": [
            -29.6044921875,
            3.6181640625,
            -12.982177734375,
            -3.06396484375,
            -0.8148193359375,
            -2.5616455078125,
            -0.5584716796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.0485107375203242,
            -2.9183184072394397,
            -0.21056532248531212,
            3.2394294375537314,
            3.5358627520103436,
            -1.238883996121487,
            -4.353976810651972
          ],
          "torque": [
            32.373046875,
            1.48681640625,
            7.51953125,
            -0.76904296875,
            5.4034423828125,
            0.8642578125,
            -0.67291259765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.5,
            -8.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -16.5,
            -8.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.9,
            -17.4,
            -0.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -17.4,
            -0.3,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -280,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -116,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37052699360357977,
          -0.34042375325085855,
          -0.1136238189266157,
          -1.4539753241355742,
          -0.0723801982970508,
          -0.5042928916064165,
          0.3579302623328624
        ],
        "act_joint_pos_r": [
          -0.4572298562536483,
          -0.9823558432377896,
          0.1307564154756033,
          -0.5409262990341949,
          0.13310955631790344,
          0.9712808033310208,
          -0.4780714734228681
        ],
        "act_eef_pose_l": [
          471.9102875079824,
          349.7278907697837,
          95.10123144788786,
          1.7083914376739175,
          -0.09014202467510621,
          0.826685926809357
        ],
        "act_eef_pose_r": [
          588.0846644042035,
          -263.4579481268787,
          1.340143346919831,
          1.6173831244072265,
          0.035177916661955806,
          2.4545248105591084
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 72,
      "colors": {
        "rgb_main": "colors/000072_rgb_main.jpg",
        "rgb_wrist_0": "colors/000072_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000072_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000072_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3690181995083426,
          -0.34147311539147535,
          -0.11314367086409577,
          -1.4462713497736785,
          -0.07557190943421564,
          -0.508005324126598,
          0.3598415850153188
        ],
        "joint_pos_r": [
          -0.4631859877071714,
          -0.9204985065377522,
          0.13545741531520714,
          -0.6372342169268996,
          0.10694543246038367,
          0.9434827480602236,
          -0.44237019999566185
        ],
        "eef_pose_l": [
          473.14065946616677,
          351.59841594858625,
          95.59130963650583,
          1.7065270100109227,
          -0.09069137858580201,
          0.830229787869627
        ],
        "eef_pose_r": [
          575.0967726277521,
          -270.3341278572327,
          3.049666600241096,
          1.6348702382449813,
          0.013670315516111121,
          2.4693655407824155
        ],
        "joint_status_l": {
          "velocity": [
            0.16294495648061513,
            0.11332776876260553,
            -0.05185446138644689,
            -0.8320046924179536,
            0.34469463658892696,
            0.40093088735515536,
            -0.2064167617685797
          ],
          "torque": [
            -23.92822265625,
            9.638671875,
            -15.625,
            -3.5888671875,
            -1.1151123046875,
            -1.365966796875,
            -0.47607421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3271878786508253,
            -3.7666074439819397,
            -0.2754626121267423,
            4.721621685670918,
            2.971821821104337,
            0.159703027827085,
            -3.7409747912477975
          ],
          "torque": [
            39.7412109375,
            3.0029296875,
            7.098388671875,
            0.01220703125,
            5.16357421875,
            2.5067138671875,
            -0.74066162109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.9,
            -6.7,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.9,
            -6.7,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.2,
            -0.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.2,
            -0.8,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -251,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -137,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37182935792369887,
          -0.33778153919535286,
          -0.11437418698255752,
          -1.458089937674718,
          -0.07530081377584616,
          -0.5020511858225412,
          0.3607803422485115
        ],
        "act_joint_pos_r": [
          -0.4581104775284195,
          -0.9886280441239381,
          0.13038678306548648,
          -0.5328545043040558,
          0.136850643635118,
          0.9697940786292307,
          -0.4828404277229644
        ],
        "act_eef_pose_l": [
          471.15508750798244,
          349.8350907697837,
          95.32123144788788,
          1.7077225774034446,
          -0.09023452712517054,
          0.8278006852511162
        ],
        "act_eef_pose_r": [
          589.4806644042035,
          -262.6947481268787,
          0.3081433469199055,
          1.6168875787441441,
          0.03677391319676341,
          2.450290840474614
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 73,
      "colors": {
        "rgb_main": "colors/000073_rgb_main.jpg",
        "rgb_wrist_0": "colors/000073_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000073_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000073_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36941450692003186,
          -0.3410247709861257,
          -0.11330320058901835,
          -1.448042738078243,
          -0.07529808768344573,
          -0.507125963126216,
          0.3597871308734533
        ],
        "joint_pos_r": [
          -0.46220852650728006,
          -0.9319740970578333,
          0.1345944928254562,
          -0.619512914364185,
          0.11189277601576521,
          0.948269989302563,
          -0.44909207101188925
        ],
        "eef_pose_l": [
          472.848971441598,
          351.2782391546935,
          95.52569390718419,
          1.7067910318481925,
          -0.09060276874537346,
          0.8297139671736696
        ],
        "eef_pose_r": [
          577.6028384918638,
          -269.1024554864439,
          2.6020384754508825,
          1.6317377198848804,
          0.01747257594566579,
          2.466452700901983
        ],
        "joint_status_l": {
          "velocity": [
            0.26079621662278285,
            0.3502587030754789,
            -0.11566311920085948,
            -1.0850655541201348,
            -0.00029440929605328847,
            0.5480597846378998,
            0.1072636649332992
          ],
          "torque": [
            -20.6982421875,
            11.9677734375,
            -19.024658203125,
            -3.973388671875,
            -1.8365478515625,
            -1.0198974609375,
            0.24810791015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.44257623662913304,
            -6.118445829224939,
            -0.45441925169742436,
            9.358832262491568,
            2.6953702071951247,
            2.324533088841285,
            -3.6447150296718966
          ],
          "torque": [
            41.42578125,
            1.80908203125,
            7.183837890625,
            0.225830078125,
            5.38330078125,
            3.2135009765625,
            -0.79193115234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.3,
            -8.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.3,
            -8.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.5,
            -17.8,
            0.1,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -17.8,
            0.1,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -324,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -156,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.375884384871966,
          -0.333657730649593,
          -0.11542843933906924,
          -1.4599974549886243,
          -0.08207892803574805,
          -0.5019825654399928,
          0.36755530960728955
        ],
        "act_joint_pos_r": [
          -0.4584565449689552,
          -1.0109251385894555,
          0.12895919409967208,
          -0.4966801649220774,
          0.14640830754273537,
          0.9708139220127066,
          -0.49159250449760233
        ],
        "act_eef_pose_l": [
          470.1366875079824,
          351.2118907697837,
          94.77803144788759,
          1.7072779795006092,
          -0.08971596035304116,
          0.8307905702562074
        ],
        "act_eef_pose_r": [
          594.7302644042035,
          -261.6739481268787,
          -2.41985665308016,
          1.616286352792724,
          0.039469996605786525,
          2.435161200524078
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 74,
      "colors": {
        "rgb_main": "colors/000074_rgb_main.jpg",
        "rgb_wrist_0": "colors/000074_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000074_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000074_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3702690778523948,
          -0.34002625660601554,
          -0.11359823056976957,
          -1.44990970047416,
          -0.07606339739016554,
          -0.5062839500869476,
          0.3607149166361236
        ],
        "joint_pos_r": [
          -0.4617662009950635,
          -0.9396627677673294,
          0.13403672608825223,
          -0.6076320516167314,
          0.11526448605881658,
          0.9507580911914602,
          -0.4534089121670956
        ],
        "eef_pose_l": [
          472.4562241846285,
          351.197038078147,
          95.42974382046899,
          1.7068898223648925,
          -0.09048352212996288,
          0.8297370558642376
        ],
        "eef_pose_r": [
          579.3219589052624,
          -268.3567781519866,
          2.1452778297349084,
          1.6300154278814836,
          0.019708263713392148,
          2.46379249328664
        ],
        "joint_status_l": {
          "velocity": [
            0.6064352722612298,
            0.6877805182914365,
            -0.19765671751104108,
            -1.0894453560883477,
            -0.6496581490799125,
            0.46453584111905144,
            0.7387406528946983
          ],
          "torque": [
            -20.61767578125,
            12.31201171875,
            -19.879150390625,
            -5.0537109375,
            -3.3746337890625,
            -0.684814453125,
            0.43304443359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3574323089172715,
            -7.696109064186274,
            -0.5483572818331117,
            11.982450359540486,
            3.363433521094139,
            2.16596584694706,
            -4.123706349476564
          ],
          "torque": [
            41.14013671875,
            -3.58154296875,
            7.14111328125,
            5.584716796875,
            5.67626953125,
            3.4039306640625,
            -0.96771240234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -17.3,
            -7.6,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -17.3,
            -7.6,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -18.1,
            0.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -18.1,
            0.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -274,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -154,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37786465096465205,
          -0.3313019635882322,
          -0.11611154987468392,
          -1.4631432670367268,
          -0.08643215924312542,
          -0.49895994600957044,
          0.3712169462378044
        ],
        "act_joint_pos_r": [
          -0.4578441185900366,
          -1.038389021834369,
          0.12721330978455114,
          -0.44758570253590785,
          0.1556099719270394,
          0.9801119981038957,
          -0.49976973127046664
        ],
        "act_eef_pose_l": [
          469.62788750798245,
          351.6774907697837,
          94.66843144788781,
          1.7068903001299296,
          -0.0891013707933487,
          0.8335358323479725
        ],
        "act_eef_pose_r": [
          600.4278644042034,
          -260.85394812687866,
          -5.135056653080255,
          1.6149708684316468,
          0.04310471784805645,
          2.4204301105180233
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 75,
      "colors": {
        "rgb_main": "colors/000075_rgb_main.jpg",
        "rgb_wrist_0": "colors/000075_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000075_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000075_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.371389175706933,
          -0.33874498379102674,
          -0.11396705408389764,
          -1.4518809791036227,
          -0.07748531759871378,
          -0.5052761770566029,
          0.36220365076924527
        ],
        "joint_pos_r": [
          -0.4610963962744139,
          -0.9551141921982857,
          0.13295100296041484,
          -0.5831182344577956,
          0.12181527919457205,
          0.9552197944123189,
          -0.46121661927790275
        ],
        "eef_pose_l": [
          472.0249534169471,
          351.24675751625466,
          95.3109438192808,
          1.7069053960808986,
          -0.09029643916875026,
          0.8301836023929097
        ],
        "eef_pose_r": [
          582.820626552216,
          -267.1128892614043,
          1.000399338182035,
          1.627290265325822,
          0.023486195160767404,
          2.457380079596358
        ],
        "joint_status_l": {
          "velocity": [
            0.6993307021767592,
            0.8038224744253419,
            -0.23159871476585714,
            -1.2162912241819868,
            -0.9662304001540889,
            0.6821328346471311,
            0.9734072014935258
          ],
          "torque": [
            -18.7939453125,
            11.22802734375,
            -19.635009765625,
            -5.48095703125,
            -3.6474609375,
            -0.54931640625,
            0.45684814453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3512356307715514,
            -8.993416354059924,
            -0.6196525873171099,
            14.63708174991396,
            3.6497191723934286,
            2.688278712147607,
            -4.163613295987023
          ],
          "torque": [
            42.3779296875,
            4.65087890625,
            7.5927734375,
            1.26953125,
            5.14892578125,
            2.7685546875,
            -0.8074951171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.7,
            -9.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.7,
            -9.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.7,
            -16.4,
            2.1,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.7,
            -16.4,
            2.1,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -154,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3814826854582529,
          -0.32627913631601874,
          -0.11782602580088587,
          -1.4769867687986322,
          -0.08793563335491379,
          -0.4879779330947337,
          0.37403982713582334
        ],
        "act_joint_pos_r": [
          -0.45759639895433324,
          -1.0559904925184809,
          0.12625030833059844,
          -0.41663711921568813,
          0.16205530611568042,
          0.9857269120825988,
          -0.5042925018420201
        ],
        "act_eef_pose_l": [
          467.7342875079824,
          350.5646907697837,
          94.29963144788785,
          1.7088422015430629,
          -0.08930592770789074,
          0.8353362815014539
        ],
        "act_eef_pose_r": [
          603.9190644042035,
          -260.1667481268787,
          -6.7478566530801345,
          1.6136613043220758,
          0.044408624207963876,
          2.41082974902748
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 76,
      "colors": {
        "rgb_main": "colors/000076_rgb_main.jpg",
        "rgb_wrist_0": "colors/000076_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000076_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000076_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.37222658142063847,
          -0.337756970636431,
          -0.11425960444864747,
          -1.4535600883819788,
          -0.07853924149154527,
          -0.5042395792899411,
          0.3633039824283014
        ],
        "joint_pos_r": [
          -0.4605035052190841,
          -0.9711069789814049,
          0.13186709648154418,
          -0.556923496421791,
          0.12825518484607878,
          0.9600257904091433,
          -0.4683592332600812
        ],
        "eef_pose_l": [
          471.69972878482184,
          351.26349431234513,
          95.22709904770413,
          1.7069505795833568,
          -0.09016815543303473,
          0.8306162789302902
        ],
        "eef_pose_r": [
          586.3969802427757,
          -266.0438864450194,
          -0.3021172919548576,
          1.6249796921171369,
          0.026789121186704175,
          2.450202673883725
        ],
        "joint_status_l": {
          "velocity": [
            0.9996297535588283,
            1.2395695474554103,
            -0.3851621462914734,
            -2.530006866432899,
            -1.014780391895953,
            1.7562059925557705,
            1.1594370326450942
          ],
          "torque": [
            -18.662109375,
            11.08154296875,
            -19.085693359375,
            -4.833984375,
            -3.72802734375,
            -0.3955078125,
            0.479736328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3139582168905086,
            -9.167149091394045,
            -0.6065952297321653,
            15.150481898681178,
            3.6503054371128663,
            2.775639277627917,
            -3.8806785523535225
          ],
          "torque": [
            43.58642578125,
            2.80517578125,
            7.38525390625,
            1.629638671875,
            5.3631591796875,
            3.021240234375,
            -0.85784912109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.4,
            -8.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.4,
            -8.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.0,
            -16.7,
            -2.2,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.7,
            -2.2,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -248,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -135,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3843535725369779,
          -0.32302696280823906,
          -0.11869470718855335,
          -1.4775250611922002,
          -0.08935288957594213,
          -0.4867104519989745,
          0.37598593821399867
        ],
        "act_joint_pos_r": [
          -0.45585129210592346,
          -1.0739547201213868,
          0.1252473097325024,
          -0.3805784265531346,
          0.16240744861314882,
          0.9971229465605668,
          -0.5043572771259961
        ],
        "act_eef_pose_l": [
          467.1846875079824,
          352.1470907697837,
          93.55483144788768,
          1.7106322691479083,
          -0.08943968876082052,
          0.8390713721563927
        ],
        "act_eef_pose_r": [
          607.0198644042035,
          -260.02514812687866,
          -8.25425665308012,
          1.6151182607771457,
          0.04631109453671548,
          2.40440439223641
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 77,
      "colors": {
        "rgb_main": "colors/000077_rgb_main.jpg",
        "rgb_wrist_0": "colors/000077_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000077_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000077_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.37436451525077136,
          -0.33512375810700007,
          -0.11506956041037358,
          -1.4585801302555448,
          -0.08062257973798916,
          -0.5007029738157674,
          0.365703291671669
        ],
        "joint_pos_r": [
          -0.45982812908711046,
          -0.9884483626623631,
          0.1307329973030702,
          -0.5278042746514338,
          0.13467005113264313,
          0.9657059293912131,
          -0.47515662380521356
        ],
        "eef_pose_l": [
          470.82781584256827,
          351.2099283964484,
          94.98471975813511,
          1.7074246925200578,
          -0.0899924707592489,
          0.8318458524468467
        ],
        "eef_pose_r": [
          590.1729873070192,
          -265.01766617549396,
          -1.7455288052301512,
          1.6229106183371385,
          0.029972859918142414,
          2.442326547003475
        ],
        "joint_status_l": {
          "velocity": [
            1.078786369806739,
            1.30641536160514,
            -0.39150430524115265,
            -2.045992197844626,
            -0.9428456547527775,
            1.511147787292444,
            1.1104930743290886
          ],
          "torque": [
            -18.96240234375,
            11.923828125,
            -19.464111328125,
            -4.571533203125,
            -3.8214111328125,
            -0.1373291015625,
            0.57769775390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.42948572696399623,
            -9.2344142510834,
            -0.5924367846323886,
            15.89992265146467,
            2.9955505788528125,
            3.3929377849393205,
            -3.1535775488462647
          ],
          "torque": [
            42.63427734375,
            1.22314453125,
            6.817626953125,
            1.031494140625,
            5.1434326171875,
            2.8472900390625,
            -0.69305419921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.7,
            -8.6,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.7,
            -8.6,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.1,
            -16.4,
            -1.8,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.1,
            -16.4,
            -1.8,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -276,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -173,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.38596189763787303,
          -0.32058982105691686,
          -0.11939056184900593,
          -1.4783932509508064,
          -0.0875562213338877,
          -0.48429001054396886,
          0.3773479011126644
        ],
        "act_joint_pos_r": [
          -0.4555273765609909,
          -1.0780530045700734,
          0.12515391109245605,
          -0.3745523636374677,
          0.16217889178093262,
          0.9981597421389546,
          -0.504686879164048
        ],
        "act_eef_pose_l": [
          466.8630875079824,
          353.3470907697837,
          92.9596314478877,
          1.713170936426862,
          -0.09238125747249648,
          0.8419996118675551
        ],
        "act_eef_pose_r": [
          607.6678644042034,
          -259.38754812687864,
          -8.597456653080144,
          1.615521064585764,
          0.046825832523241705,
          2.40364755251527
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 78,
      "colors": {
        "rgb_main": "colors/000078_rgb_main.jpg",
        "rgb_wrist_0": "colors/000078_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000078_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000078_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.37636878051473943,
          -0.33266129307599357,
          -0.11580501990624205,
          -1.462224022662509,
          -0.08214338908726594,
          -0.49788335030165654,
          0.36774529304550385
        ],
        "joint_pos_r": [
          -0.45910616821287914,
          -1.0038047559408982,
          0.12975765424758687,
          -0.5014233337603572,
          0.13956097480664945,
          0.9713209701175324,
          -0.4803386979054247
        ],
        "eef_pose_l": [
          470.11933191971787,
          351.4769608663807,
          94.66904553461255,
          1.7081884437626702,
          -0.09009371594394712,
          0.8334312562655937
        ],
        "eef_pose_r": [
          593.39789418006,
          -264.180118055748,
          -3.0197679252473506,
          1.6215330656058284,
          0.03265599506281578,
          2.4355850743544107
        ],
        "joint_status_l": {
          "velocity": [
            1.0360260933421905,
            1.3036805280588482,
            -0.3872271091652779,
            -1.7462251529778428,
            -0.5845686417046414,
            1.468037396382016,
            1.037051085066576
          ],
          "torque": [
            -17.5048828125,
            11.1328125,
            -20.013427734375,
            -5.43212890625,
            -3.658447265625,
            -0.465087890625,
            0.4815673828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.38649809925228595,
            -8.018574356741581,
            -0.49718959693079157,
            13.701660664392268,
            2.4426629907284836,
            2.898501891570149,
            -2.629526022206896
          ],
          "torque": [
            43.857421875,
            -0.732421875,
            6.72607421875,
            1.104736328125,
            5.1580810546875,
            3.3636474609375,
            -0.8935546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.8,
            -7.3,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.8,
            -7.3,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -17.4,
            0.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -17.4,
            0.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -265,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -190,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3875930011245211,
          -0.31820353165207566,
          -0.12035957514929586,
          -1.4877355653197282,
          -0.09126921613946479,
          -0.4748949525126254,
          0.3823443312767791
        ],
        "act_joint_pos_r": [
          -0.45349515916243327,
          -1.0831369007694194,
          0.12496180026452869,
          -0.3653703314113318,
          0.15778992281305948,
          1.0034743585007089,
          -0.5029829087407961
        ],
        "act_eef_pose_l": [
          466.0886875079824,
          352.43749076978366,
          93.0996314478878,
          1.7132239898293555,
          -0.09373803342440697,
          0.844490191832906
        ],
        "act_eef_pose_r": [
          608.2206644042035,
          -258.5059481268787,
          -8.462256653080203,
          1.6169409876026992,
          0.048849908048734375,
          2.4063573630431025
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 79,
      "colors": {
        "rgb_main": "colors/000079_rgb_main.jpg",
        "rgb_wrist_0": "colors/000079_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000079_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000079_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3779939450062238,
          -0.33060642838095755,
          -0.1164230422051134,
          -1.4651576705659743,
          -0.08314272862064771,
          -0.4953716110639581,
          0.36947126032595456
        ],
        "joint_pos_r": [
          -0.45845790204531295,
          -1.016160744391265,
          0.1289951550498709,
          -0.4802955624518532,
          0.14314982543374014,
          0.9758898655880779,
          -0.4842911757512607
        ],
        "eef_pose_l": [
          469.56433235152554,
          351.7601966913597,
          94.39010171268174,
          1.7089889213114575,
          -0.09050292334170867,
          0.8349220799524987
        ],
        "eef_pose_r": [
          595.9065566646592,
          -263.4252345420517,
          -4.0062634746232675,
          1.620569618269181,
          0.034888282423337136,
          2.43041461155358
        ],
        "joint_status_l": {
          "velocity": [
            1.0366674859030311,
            1.3394733410652115,
            -0.42513301934354875,
            -2.4383407183901085,
            -0.8776347675784058,
            2.211413901377579,
            1.3902506594374309
          ],
          "torque": [
            -17.4462890625,
            12.19482421875,
            -20.294189453125,
            -4.9560546875,
            -3.6932373046875,
            -0.6134033203125,
            0.45135498046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.53596042404358,
            -7.233211556668451,
            -0.43558946979238566,
            12.411558893014263,
            1.5810838853898002,
            2.979037372552895,
            -2.018647626039982
          ],
          "torque": [
            43.79150390625,
            1.34765625,
            6.4453125,
            -0.5859375,
            5.2239990234375,
            3.6053466796875,
            -0.82489013671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.7,
            -8.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.7,
            -8.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.9,
            -17.6,
            -1.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -17.6,
            -1.3,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -206,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -146,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3900267310886593,
          -0.3177361276415931,
          -0.12055646479551771,
          -1.4893291899160759,
          -0.10304274498955122,
          -0.4733030850338452,
          0.395235259602948
        ],
        "act_joint_pos_r": [
          -0.45065771800655563,
          -1.0901444660429471,
          0.12462764511915818,
          -0.35204150987623667,
          0.15297085258240847,
          1.0125532317362431,
          -0.5001675448838335
        ],
        "act_eef_pose_l": [
          465.97668750798243,
          352.4462907697837,
          93.1132314478878,
          1.709995076458347,
          -0.09494143884183753,
          0.8464275077363785
        ],
        "act_eef_pose_r": [
          608.8734644042034,
          -257.35714812687866,
          -7.983056653080212,
          1.6175341108442884,
          0.05057563680645288,
          2.4105105508907148
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 80,
      "colors": {
        "rgb_main": "colors/000080_rgb_main.jpg",
        "rgb_wrist_0": "colors/000080_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000080_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000080_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.37996576778740054,
          -0.3283607487801519,
          -0.1171412719075796,
          -1.4693294612692174,
          -0.08590811816906466,
          -0.4915715348644705,
          0.37320197624125856
        ],
        "joint_pos_r": [
          -0.4572602625108932,
          -1.0287934453564986,
          0.12824431700543995,
          -0.45847175357570213,
          0.14519452023890053,
          0.9817915215258708,
          -0.48727833767864936
        ],
        "eef_pose_l": [
          468.94269052375785,
          351.88263830117575,
          94.16679859025326,
          1.7093171793906907,
          -0.09121585462488371,
          0.8368427016405011
        ],
        "eef_pose_r": [
          598.2961938384509,
          -262.48886816530626,
          -4.81486252900271,
          1.6199747168326963,
          0.03743667875120917,
          2.4266127342716177
        ],
        "joint_status_l": {
          "velocity": [
            1.086551990397755,
            1.147425241466049,
            -0.3688299538392448,
            -2.15990699080848,
            -1.850485119471279,
            1.9729343931182974,
            2.3795244227406975
          ],
          "torque": [
            -16.36962890625,
            11.46240234375,
            -20.269775390625,
            -4.7119140625,
            -3.870849609375,
            -0.4998779296875,
            0.63446044921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.7130537760717814,
            -6.625714819122663,
            -0.3905890439104276,
            11.4941273183784,
            0.8398191239578079,
            3.3221667206495553,
            -1.3919933235113646
          ],
          "torque": [
            44.97802734375,
            2.30712890625,
            5.92041015625,
            0.555419921875,
            4.9127197265625,
            3.3782958984375,
            -0.70220947265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -17.2,
            -7.9,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -17.2,
            -7.9,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -17.6,
            -0.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -17.6,
            -0.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -215,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -175,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39136590150205613,
          -0.3193174106639505,
          -0.1200558259005012,
          -1.4864454553565285,
          -0.10961278140517171,
          -0.4783289913139356,
          0.4024008287627673
        ],
        "act_joint_pos_r": [
          -0.44888835828496404,
          -1.1032754006107706,
          0.12402406110269118,
          -0.3297729800904845,
          0.14883737830051122,
          1.0242227357319174,
          -0.49958134022401357
        ],
        "act_eef_pose_l": [
          466.01828750798245,
          352.0958907697837,
          92.90443144788792,
          1.7072799369771037,
          -0.09475045498119354,
          0.8438911306006984
        ],
        "act_eef_pose_r": [
          609.9726644042034,
          -255.10594812687867,
          -8.71345665308013,
          1.6187204310325134,
          0.053032384105954504,
          2.4142870945641524
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 81,
      "colors": {
        "rgb_main": "colors/000081_rgb_main.jpg",
        "rgb_wrist_0": "colors/000081_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000081_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000081_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3817347590336067,
          -0.3267499204647639,
          -0.11765971588967629,
          -1.472369651367996,
          -0.0892892441258145,
          -0.48899994118622164,
          0.37743956632859643
        ],
        "joint_pos_r": [
          -0.4560228720078732,
          -1.0400070286238619,
          0.12759791368291815,
          -0.4390625660703188,
          0.1461179060225117,
          0.9878508485905235,
          -0.4893469165415203
        ],
        "eef_pose_l": [
          468.4616698907431,
          351.9450126223651,
          93.97963940388294,
          1.709147586200624,
          -0.09182029518648648,
          0.8382006540299038
        ],
        "eef_pose_r": [
          600.2489519893132,
          -261.5091081222424,
          -5.4626164294436705,
          1.6196473569882235,
          0.039730845619921656,
          2.4242667640713376
        ],
        "joint_status_l": {
          "velocity": [
            1.0401327095181934,
            0.8026873844890758,
            -0.258772249089545,
            -1.5201419965684693,
            -2.1948772917250725,
            1.1524285971424852,
            2.6957368363822454
          ],
          "torque": [
            -16.29638671875,
            11.00830078125,
            -19.354248046875,
            -4.144287109375,
            -3.885498046875,
            -0.135498046875,
            0.65093994140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.770504757251711,
            -6.8327826524337,
            -0.385964695244323,
            11.802927177092748,
            0.29369434397219507,
            3.9280479596879303,
            -1.1052851590660495
          ],
          "torque": [
            43.9453125,
            1.12060546875,
            5.4443359375,
            -0.115966796875,
            4.8504638671875,
            3.5064697265625,
            -0.6793212890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.6,
            -8.7,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.6,
            -8.7,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.8,
            -17.2,
            -2.4,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -17.2,
            -2.4,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -267,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -158,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3914937344295006,
          -0.3223881601003447,
          -0.11915937076791114,
          -1.4837269714015857,
          -0.11236059672537431,
          -0.4826045022542921,
          0.4064500101470874
        ],
        "act_joint_pos_r": [
          -0.44861685728140493,
          -1.1151452994561095,
          0.12356354693045411,
          -0.31350708454861265,
          0.1450479597701526,
          1.031427101470878,
          -0.506766906166501
        ],
        "act_eef_pose_l": [
          466.3014875079824,
          351.0286907697837,
          92.66283144788785,
          1.705474818395799,
          -0.09504245901759564,
          0.8398566766113468
        ],
        "act_eef_pose_r": [
          610.6838644042034,
          -252.09154812687865,
          -10.124656653080137,
          1.6207799446239743,
          0.061421486191763144,
          2.418684238754581
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 82,
      "colors": {
        "rgb_main": "colors/000082_rgb_main.jpg",
        "rgb_wrist_0": "colors/000082_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000082_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000082_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.38332905297952957,
          -0.32579178446798274,
          -0.1179766323820829,
          -1.474450168570305,
          -0.09286633734976169,
          -0.48761289272081193,
          0.38189084888075236
        ],
        "joint_pos_r": [
          -0.4548266731281712,
          -1.0514275103674708,
          0.1269708373310137,
          -0.41969885742442925,
          0.14623951711854644,
          0.9944489703460289,
          -0.4916465465646023
        ],
        "eef_pose_l": [
          468.05870308142,
          351.8636203680049,
          93.76793978184647,
          1.708608164310102,
          -0.09237459501391534,
          0.8387944893014645
        ],
        "eef_pose_r": [
          602.0288335523226,
          -260.2576002805132,
          -6.179584722165771,
          1.6196285170755789,
          0.042583086946473,
          2.422971269517737
        ],
        "joint_status_l": {
          "velocity": [
            0.8817595904875297,
            0.36758059049502023,
            -0.12773197841609019,
            -1.0018651573435733,
            -2.1053179195331673,
            0.5408902176800012,
            2.652311191027046
          ],
          "torque": [
            -17.13134765625,
            11.7041015625,
            -18.64013671875,
            -5.28564453125,
            -3.907470703125,
            -0.1629638671875,
            0.596923828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.670640331971839,
            -6.8813182679390295,
            -0.3679765103734578,
            11.468373229000406,
            -0.12868439828306322,
            3.9935203788958873,
            -1.6329506756989076
          ],
          "torque": [
            44.912109375,
            -0.05126953125,
            5.67626953125,
            1.08642578125,
            3.18603515625,
            3.017578125,
            -0.699462890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.6,
            -8.6,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -16.6,
            -8.6,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.0,
            -17.7,
            -1.6,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -17.7,
            -1.6,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -255,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -171,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3906264794911534,
          -0.3227129318179162,
          -0.11898730765898033,
          -1.4809236382830342,
          -0.10733737909278644,
          -0.48536292027322464,
          0.4023804729723451
        ],
        "act_joint_pos_r": [
          -0.4487761201061913,
          -1.1222919074278204,
          0.1232718550778393,
          -0.3010510157520501,
          0.1440821146412885,
          1.0377994839652485,
          -0.5091622464375205
        ],
        "act_eef_pose_l": [
          466.4486875079824,
          351.4462907697837,
          92.51963144788787,
          1.7068896788860317,
          -0.09586623440774235,
          0.8387370879165491
        ],
        "act_eef_pose_r": [
          611.0782644042034,
          -251.01554812687868,
          -11.005456653080273,
          1.6213190358054377,
          0.0640059101490842,
          2.4200894218925852
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 83,
      "colors": {
        "rgb_main": "colors/000083_rgb_main.jpg",
        "rgb_wrist_0": "colors/000083_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000083_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000083_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3847746170165296,
          -0.3251850214168423,
          -0.11818079770483456,
          -1.4758874922567748,
          -0.09598464114082302,
          -0.48697738889335745,
          0.38607422292637733
        ],
        "joint_pos_r": [
          -0.45397273342993294,
          -1.0606998789767499,
          0.12648025734038681,
          -0.4042138680814087,
          0.14601775983301135,
          0.9999594071375226,
          -0.49388754236397636
        ],
        "eef_pose_l": [
          467.76468935100553,
          351.76174767421446,
          93.55670273259416,
          1.7082039658508035,
          -0.09294178281968611,
          0.83884704021038
        ],
        "eef_pose_r": [
          603.3498652279284,
          -259.1077106681687,
          -6.825389346707993,
          1.6197791136939725,
          0.045317908953173267,
          2.4224271782733218
        ],
        "joint_status_l": {
          "velocity": [
            0.6319825079317276,
            0.26697780259477,
            -0.08710050615556852,
            -0.5438877297230249,
            -1.2260595381188288,
            0.17435746857596968,
            1.7610230663653859
          ],
          "torque": [
            -17.9443359375,
            11.6748046875,
            -18.865966796875,
            -5.078125,
            -3.6456298828125,
            -0.46142578125,
            0.626220703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5612176867333396,
            -6.65174289004522,
            -0.3464972249658249,
            11.141259457688069,
            -0.20904351529726917,
            4.086607769340667,
            -1.649619387019463
          ],
          "torque": [
            45.78369140625,
            -0.4833984375,
            5.23681640625,
            1.45263671875,
            2.9736328125,
            3.955078125,
            -0.780029296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.7,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.7,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.7,
            0.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.7,
            0.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -238,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -169,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3897641958220067,
          -0.32219507322941204,
          -0.11917986381402229,
          -1.4826105090002992,
          -0.10045988324435363,
          -0.4844093454502923,
          0.39664595455015905
        ],
        "act_joint_pos_r": [
          -0.4494277039679355,
          -1.1459281711462677,
          0.12214244418905573,
          -0.2546211036806789,
          0.14572188694426647,
          1.062741279308122,
          -0.5098139918114775
        ],
        "act_eef_pose_l": [
          466.1470875079824,
          351.11349076978365,
          92.46043144788773,
          1.7092093313903653,
          -0.09666460432314886,
          0.8373039079081096
        ],
        "act_eef_pose_r": [
          612.4510644042035,
          -248.97154812687867,
          -13.302256653080121,
          1.6198155765142601,
          0.06367590769510482,
          2.421036263919077
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 84,
      "colors": {
        "rgb_main": "colors/000084_rgb_main.jpg",
        "rgb_wrist_0": "colors/000084_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000084_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000084_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3853848505810013,
          -0.3248759711956542,
          -0.11828299596190614,
          -1.4765538088880936,
          -0.09686606633702986,
          -0.4867397956679481,
          0.3875810345853583
        ],
        "joint_pos_r": [
          -0.45310090884219756,
          -1.0732940833532305,
          0.12583155234747626,
          -0.38262613065608203,
          0.1457937519404278,
          1.0084481978975905,
          -0.4966352304394528
        ],
        "eef_pose_l": [
          467.59879593556417,
          351.70660573540863,
          93.43592036790155,
          1.7081886191088111,
          -0.09331865079504856,
          0.8387497926958414
        ],
        "eef_pose_r": [
          604.9587633850803,
          -257.5978031268887,
          -7.796283652756841,
          1.6198832210667076,
          0.048544463152132934,
          2.4220402200782245
        ],
        "joint_status_l": {
          "velocity": [
            0.47295533695645986,
            0.2895284411694732,
            -0.09685887132881987,
            -0.6541043203434072,
            -0.3881207789804275,
            0.25168120056706655,
            0.9789824826533788
          ],
          "torque": [
            -17.2998046875,
            11.6455078125,
            -18.95751953125,
            -5.18798828125,
            -3.3709716796875,
            -0.3350830078125,
            0.615234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3966944265436645,
            -7.844250127856611,
            -0.3984119305776579,
            13.824135192270326,
            -0.007761190681465635,
            5.863479858242648,
            -1.4232642512430616
          ],
          "torque": [
            46.171875,
            0.205078125,
            4.87060546875,
            0.689697265625,
            3.8140869140625,
            3.4368896484375,
            -0.63812255859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.3,
            -8.6,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.3,
            -8.6,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.2,
            -16.7,
            -3.6,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.7,
            -3.6,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -249,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -177,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39087431348884766,
          -0.3176261281149743,
          -0.12070056682103293,
          -1.491576772629071,
          -0.09901046853060301,
          -0.47710372900660736,
          0.396146497106988
        ],
        "act_joint_pos_r": [
          -0.4517600594026505,
          -1.1621285674798398,
          0.12148489553719002,
          -0.22491468891564045,
          0.1504233890929596,
          1.0815238211235922,
          -0.5143666659002094
        ],
        "act_eef_pose_l": [
          464.9078875079824,
          351.02069076978364,
          92.7980314478878,
          1.7107587945119171,
          -0.09793514296831281,
          0.8395539945695948
        ],
        "act_eef_pose_r": [
          612.6166644042034,
          -246.72514812687868,
          -15.043056653080157,
          1.615612181653089,
          0.06415915182281459,
          2.4236662558040285
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 85,
      "colors": {
        "rgb_main": "colors/000085_rgb_main.jpg",
        "rgb_wrist_0": "colors/000085_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000085_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000085_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.38632997594077373,
          -0.3240713848435209,
          -0.11855170954456787,
          -1.4782927425833725,
          -0.09750450056830279,
          -0.4858466513998906,
          0.38937482241919336
        ],
        "joint_pos_r": [
          -0.4525420695953543,
          -1.0879660207015316,
          0.1250959641059265,
          -0.35670220086947224,
          0.146053370071573,
          1.0198030528916564,
          -0.499391059908387
        ],
        "eef_pose_l": [
          467.2355828239199,
          351.5823617293864,
          93.25845752511515,
          1.708481416178001,
          -0.09406515389449145,
          0.8385914113926614
        ],
        "eef_pose_r": [
          606.5692732577868,
          -255.9193692130374,
          -9.021643059760038,
          1.6195615065472826,
          0.0513434540969642,
          2.4219608542446993
        ],
        "joint_status_l": {
          "velocity": [
            0.49077398058727795,
            0.6960671972784382,
            -0.2320697413270567,
            -1.4346329326979657,
            -0.16263974312558105,
            0.944207770555483,
            0.7313192971722948
          ],
          "torque": [
            -16.8017578125,
            13.04443359375,
            -19.54345703125,
            -6.329345703125,
            -3.6492919921875,
            -0.2508544921875,
            0.5950927734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.0844546099569854,
            -8.00931882982514,
            -0.3899839034632313,
            14.232631521985617,
            0.4719481349433341,
            6.665646376316836,
            -1.6173177468794542
          ],
          "torque": [
            47.34375,
            -4.423828125,
            4.339599609375,
            4.52880859375,
            4.68017578125,
            4.16015625,
            -0.71044921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.9,
            -7.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.9,
            -7.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -18.0,
            -1.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -18.0,
            -1.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -244,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -141,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39027217511779866,
          -0.3166334638541912,
          -0.12096890272649292,
          -1.4913591402665813,
          -0.09417051936884242,
          -0.47701486677891547,
          0.39060597833574406
        ],
        "act_joint_pos_r": [
          -0.4547837514876693,
          -1.1809191753797317,
          0.12079101890864001,
          -0.19168172939970474,
          0.1626029511542466,
          1.1060400161159294,
          -0.5249812497751029
        ],
        "act_eef_pose_l": [
          464.8150875079824,
          351.53669076978366,
          92.78683144788765,
          1.712508468293946,
          -0.09743214274819294,
          0.8401610614821794
        ],
        "act_eef_pose_r": [
          612.5510644042034,
          -243.64194812687867,
          -15.730256653080232,
          1.6037778613510434,
          0.06681109489532447,
          2.427191813246136
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 86,
      "colors": {
        "rgb_main": "colors/000086_rgb_main.jpg",
        "rgb_wrist_0": "colors/000086_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000086_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000086_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.38720035470015823,
          -0.32270377341876577,
          -0.11900315804644714,
          -1.4809482580270121,
          -0.09745835797090796,
          -0.4840821816685447,
          0.39033701738269294
        ],
        "joint_pos_r": [
          -0.45256994677038226,
          -1.1030774101096876,
          0.12437301722953897,
          -0.3298583144128731,
          0.14758721743836786,
          1.0328951974613068,
          -0.5028388159115186
        ],
        "eef_pose_l": [
          466.76181727638544,
          351.5075847473629,
          93.16350887787546,
          1.7090636023316363,
          -0.09480414859876711,
          0.8388315791666283
        ],
        "eef_pose_r": [
          607.908204607977,
          -254.08520430646257,
          -10.29341807655311,
          1.618093080688122,
          0.05375770047258424,
          2.422476723149043
        ],
        "joint_status_l": {
          "velocity": [
            0.33174682075554074,
            0.6555740978493318,
            -0.2122941641631293,
            -1.1243421211748483,
            0.3550760966134492,
            0.7632474972982806,
            0.029046926235842818
          ],
          "torque": [
            -17.11669921875,
            11.4404296875,
            -19.195556640625,
            -5.462646484375,
            -1.75048828125,
            -0.5731201171875,
            0.1849365234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.23908385806548083,
            -8.406662707900914,
            -0.3868444092911538,
            14.922631061945246,
            1.6216514132629811,
            7.89940743413009,
            -2.3913123292795824
          ],
          "torque": [
            40.80322265625,
            -2.431640625,
            4.376220703125,
            5.52978515625,
            5.8721923828125,
            4.0740966796875,
            -0.63720703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.8,
            -7.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.8,
            -7.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.7,
            -18.0,
            0.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -18.0,
            0.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -253,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -148,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.38991351937744934,
          -0.31641014174780197,
          -0.12104423142136769,
          -1.4915596088004848,
          -0.09254137404598282,
          -0.47608810116853617,
          0.3887724174391376
        ],
        "act_joint_pos_r": [
          -0.454328046368802,
          -1.202037005533591,
          0.11993898876834772,
          -0.14635155358274832,
          0.164681258348224,
          1.13601271732009,
          -0.52427518745131
        ],
        "act_eef_pose_l": [
          464.8758875079824,
          351.6902907697837,
          92.81003144788774,
          1.7131688400920737,
          -0.09742942952710451,
          0.8408404333668723
        ],
        "act_eef_pose_r": [
          612.7870644042034,
          -242.06434812687866,
          -16.353456653080002,
          1.599161387419608,
          0.06683874735701813,
          2.4308869756635234
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 87,
      "colors": {
        "rgb_main": "colors/000087_rgb_main.jpg",
        "rgb_wrist_0": "colors/000087_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000087_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000087_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3876845062427748,
          -0.3216928656367188,
          -0.11933069463851442,
          -1.4826714076975775,
          -0.0968231833533542,
          -0.4828664939098404,
          0.3902746854791221
        ],
        "joint_pos_r": [
          -0.4529413574866774,
          -1.1177677056933433,
          0.12370227986640864,
          -0.3034372280156427,
          0.15033337728597568,
          1.0471438227521572,
          -0.506722783408253
        ],
        "eef_pose_l": [
          466.4456601535968,
          351.5218150372665,
          93.10153181767419,
          1.709670289283151,
          -0.09523236161383572,
          0.8390903429695199
        ],
        "eef_pose_r": [
          608.9498942832352,
          -252.24967695567344,
          -11.38615346683963,
          1.6153555635874113,
          0.055829319300470005,
          2.4234919764628917
        ],
        "joint_status_l": {
          "velocity": [
            0.24072631870142303,
            0.5705173534931163,
            -0.18505651459788108,
            -0.9598974084514822,
            0.46242176679511804,
            0.73204482555278,
            -0.1622401633007975
          ],
          "torque": [
            -17.2705078125,
            12.3486328125,
            -19.427490234375,
            -4.437255859375,
            -1.1077880859375,
            -0.4852294921875,
            0.0787353515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.14975798239369453,
            -9.100815968526632,
            -0.4064234517716647,
            16.964752490123747,
            1.5495254539124037,
            9.597557548508107,
            -1.8956037288067051
          ],
          "torque": [
            33.6328125,
            1.58203125,
            4.541015625,
            1.519775390625,
            5.416259765625,
            3.292236328125,
            -0.75164794921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.5,
            -9.2,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.6,
            -16.5,
            -9.2,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.4,
            -17.3,
            -0.5,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -17.3,
            -0.5,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -253,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -166,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.38905014375612273,
          -0.3169440658524201,
          -0.12085793919995977,
          -1.4902178798714867,
          -0.08857078213014254,
          -0.47802148004885936,
          0.3847598427869516
        ],
        "act_joint_pos_r": [
          -0.45381815143725657,
          -1.2111022100076672,
          0.11961612517748163,
          -0.12583187100305243,
          0.1646016733127196,
          1.149301386070291,
          -0.5243044377008177
        ],
        "act_eef_pose_l": [
          464.9214875079824,
          351.59989076978366,
          92.78283144788774,
          1.7140281086761153,
          -0.09717978952052174,
          0.8392523269648277
        ],
        "act_eef_pose_r": [
          612.8518644042034,
          -241.6323481268787,
          -16.59105665308016,
          1.5979729765162687,
          0.06803405964700922,
          2.432350302840441
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 88,
      "colors": {
        "rgb_main": "colors/000088_rgb_main.jpg",
        "rgb_wrist_0": "colors/000088_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000088_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000088_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.38795351986400917,
          -0.3208846599697388,
          -0.11959137035399538,
          -1.483981182026657,
          -0.09567122107021202,
          -0.4819703256868482,
          0.389574929366935
        ],
        "joint_pos_r": [
          -0.45311860586903807,
          -1.1325228579832547,
          0.12305149866814151,
          -0.27557208134734945,
          0.152684186076923,
          1.0630752146950573,
          -0.5096112261560588
        ],
        "eef_pose_l": [
          466.1927321096229,
          351.53932410646206,
          93.04942024204303,
          1.7103454749226734,
          -0.0955620646862911,
          0.8391975942417005
        ],
        "eef_pose_r": [
          609.8347528148798,
          -250.62310467387613,
          -12.346429339231662,
          1.6125522899772278,
          0.057499891253197426,
          2.424852698574802
        ],
        "joint_status_l": {
          "velocity": [
            0.11843188738636101,
            0.42557161310696756,
            -0.13678540109440807,
            -0.6735435021365532,
            0.7668247892392843,
            0.4264627510566221,
            -0.5200140136447651
          ],
          "torque": [
            -16.98486328125,
            12.744140625,
            -19.488525390625,
            -4.412841796875,
            -0.9063720703125,
            -0.40283203125,
            -0.34881591796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.0755486931778293,
            -8.48631972801428,
            -0.37100939465417593,
            16.17146576529627,
            1.2870506619357958,
            9.312151861286644,
            -1.5868200460782411
          ],
          "torque": [
            33.134765625,
            1.07666015625,
            4.00390625,
            0.1953125,
            5.5499267578125,
            3.427734375,
            -0.7562255859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.4,
            -9.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.4,
            -9.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.5,
            -17.8,
            -1.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -17.8,
            -1.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -244,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -173,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3893244338718367,
          -0.31876987374190274,
          -0.1203937341774871,
          -1.4911510575845939,
          -0.08976227040604481,
          -0.47784265073646437,
          0.3856112824244696
        ],
        "act_joint_pos_r": [
          -0.4549888739432051,
          -1.2180202044550432,
          0.11942300763402089,
          -0.11131821116510668,
          0.16767854736923749,
          1.1597550848437157,
          -0.5259678200759325
        ],
        "act_eef_pose_l": [
          464.9382875079824,
          350.40629076978365,
          92.53643144788775,
          1.7135124449846189,
          -0.09597084649442163,
          0.8370128087251809
        ],
        "act_eef_pose_r": [
          612.5734644042035,
          -241.01634812687865,
          -17.064656653080192,
          1.5948986933822222,
          0.06797447105450988,
          2.433371713923421
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 89,
      "colors": {
        "rgb_main": "colors/000089_rgb_main.jpg",
        "rgb_wrist_0": "colors/000089_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000089_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000089_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3881819786986763,
          -0.32041802124577934,
          -0.11975681046017947,
          -1.4852014832947882,
          -0.09456595717021654,
          -0.48124960020323054,
          0.3888308814639734
        ],
        "joint_pos_r": [
          -0.4533898278664839,
          -1.147288165572611,
          0.12241975874951794,
          -0.24726771696717786,
          0.15517905096085427,
          1.0796381197610563,
          -0.5124187317851321
        ],
        "eef_pose_l": [
          465.97024636710427,
          351.39935752463117,
          92.97036874105464,
          1.7109343072756844,
          -0.09569367341689489,
          0.8389237029149516
        ],
        "eef_pose_r": [
          610.566338739935,
          -249.0386814227073,
          -13.270149636914255,
          1.6095675902532642,
          0.05910052515363363,
          2.4263076568172957
        ],
        "joint_status_l": {
          "velocity": [
            0.12338151975743727,
            0.17799468074608527,
            -0.06878573274238242,
            -0.6425350727390367,
            0.5187828698477448,
            0.3679396906099974,
            -0.3477064412131803
          ],
          "torque": [
            -16.80908203125,
            12.5537109375,
            -19.573974609375,
            -5.230712890625,
            -0.736083984375,
            -0.472412109375,
            -0.48797607421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.17269188301094474,
            -7.638834903909597,
            -0.3236395752346244,
            14.68211360083016,
            1.349905798762041,
            8.65237704070676,
            -1.4632583789073728
          ],
          "torque": [
            32.55615234375,
            0.84228515625,
            3.72314453125,
            0.531005859375,
            5.203857421875,
            4.031982421875,
            -0.8001708984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.9,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.9,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.8,
            -1.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.8,
            -1.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -181,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -127,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3897132315828475,
          -0.3205653473738396,
          -0.11970244617374821,
          -1.484742189705915,
          -0.08991467167302836,
          -0.48418228774196065,
          0.3844234013706994
        ],
        "act_joint_pos_r": [
          -0.4562373580353962,
          -1.2169431346833322,
          0.11954443861529337,
          -0.11405126578611458,
          0.16929872382237,
          1.160298120854943,
          -0.5288111905854901
        ],
        "act_eef_pose_l": [
          465.38228750798237,
          351.0014907697837,
          91.95323144788772,
          1.713408726326802,
          -0.09390512931971776,
          0.8356333042382257
        ],
        "act_eef_pose_r": [
          612.0894644042035,
          -240.79874812687868,
          -17.268656653080143,
          1.5933626435731487,
          0.06902389532839834,
          2.4346160749413963
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 90,
      "colors": {
        "rgb_main": "colors/000090_rgb_main.jpg",
        "rgb_wrist_0": "colors/000090_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000090_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000090_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.38839406962365547,
          -0.3203464277018646,
          -0.11978473324942675,
          -1.4854671400951935,
          -0.09385193974539949,
          -0.48136301529485764,
          0.38822400931943396
        ],
        "joint_pos_r": [
          -0.45379358605387793,
          -1.15879464329903,
          0.12194080945679629,
          -0.2252266578386116,
          0.15741673516192728,
          1.0928702528970764,
          -0.5149669926674991
        ],
        "eef_pose_l": [
          465.8580056307294,
          351.3076522905526,
          92.84641829687482,
          1.7113152339644027,
          -0.09553063289216776,
          0.8384959394575633
        ],
        "eef_pose_r": [
          610.996657247316,
          -247.7482068768718,
          -13.993624851247205,
          1.6069777418896105,
          0.06049117613071003,
          2.427619772576663
        ],
        "joint_status_l": {
          "velocity": [
            0.14246528980343953,
            -0.023642627271502903,
            0.008886742072888865,
            0.07829233293499271,
            0.4252124108463651,
            -0.3044724443523883,
            -0.41045355278335194
          ],
          "torque": [
            -16.9482421875,
            9.375,
            -14.12353515625,
            -1.953125,
            -0.7196044921875,
            -2.138671875,
            -0.48065185546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.26391959011151656,
            -6.279851855174101,
            -0.2588004179719938,
            12.00658822627898,
            1.2832169288674589,
            7.281994968487915,
            -1.4951292786622439
          ],
          "torque": [
            31.7724609375,
            1.5087890625,
            3.271484375,
            1.64794921875,
            5.3173828125,
            3.40576171875,
            -0.84686279296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.5,
            -9.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.5,
            -9.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.5,
            -17.8,
            -1.2,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -17.8,
            -1.2,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -179,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.38890806977215475,
          -0.32200652248513156,
          -0.11938202735695316,
          -1.4866995139387293,
          -0.08881387704043543,
          -0.4822302805363173,
          0.38326580028950585
        ],
        "act_joint_pos_r": [
          -0.458348873193414,
          -1.202845117787466,
          0.12021725766079873,
          -0.14747692407928978,
          0.1680387708805915,
          1.1436252417020734,
          -0.529038422997007
        ],
        "act_eef_pose_l": [
          465.48068750798245,
          349.8478907697837,
          92.04603144788784,
          1.7133676333465517,
          -0.09360843820979478,
          0.8341173029030522
        ],
        "act_eef_pose_r": [
          610.9558644042035,
          -240.41154812687867,
          -17.43345665307993,
          1.5947181873761371,
          0.06650652635121311,
          2.43778085336742
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 91,
      "colors": {
        "rgb_main": "colors/000091_rgb_main.jpg",
        "rgb_wrist_0": "colors/000091_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000091_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000091_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3885525834152865,
          -0.32055043790565435,
          -0.11973302097706527,
          -1.4855509675837135,
          -0.09298343331528024,
          -0.4816756923191218,
          0.3873749265198682
        ],
        "joint_pos_r": [
          -0.45440535305410124,
          -1.1669517219865344,
          0.12161377934919061,
          -0.210274631753538,
          0.15924475720896542,
          1.1022967086205742,
          -0.5172655159581456
        ],
        "eef_pose_l": [
          465.7795312879794,
          351.11938795077253,
          92.68806711570559,
          1.7117059221570823,
          -0.09519048594253735,
          0.8377831177880404
        ],
        "eef_pose_r": [
          611.1401078444237,
          -246.59141594007173,
          -14.587115243765766,
          1.6048810171480785,
          0.06154111141868816,
          2.429100309515253
        ],
        "joint_status_l": {
          "velocity": [
            0.038391394247661026,
            -0.15725249666909136,
            0.03790619298871256,
            -0.12403934799642968,
            0.45029879683011753,
            -0.0598937609850303,
            -0.4437725445076701
          ],
          "torque": [
            -19.56298828125,
            7.412109375,
            -13.9404296875,
            -4.82177734375,
            -0.498046875,
            -2.281494140625,
            -0.516357421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.42588761416162413,
            -3.876372419007623,
            -0.1508198941514438,
            6.781952405824798,
            0.9497254658801246,
            4.463349933332417,
            -1.2714364611832174
          ],
          "torque": [
            31.2451171875,
            1.34765625,
            3.38134765625,
            1.165771484375,
            5.26611328125,
            3.702392578125,
            -0.74798583984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.1,
            -10.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.1,
            -10.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.4,
            -17.5,
            -1.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -17.5,
            -1.4,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -248,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -215,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.38979591103911715,
          -0.32179056778845777,
          -0.1192074735227971,
          -1.4795365567219385,
          -0.09289084028234033,
          -0.4893945392844998,
          0.3877416773334279
        ],
        "act_joint_pos_r": [
          -0.4635793343774855,
          -1.154305988871062,
          0.1226926512903831,
          -0.2660125095597237,
          0.16843685912275405,
          1.081189461535935,
          -0.5361291905173459
        ],
        "act_eef_pose_l": [
          465.81988750798246,
          351.6230907697837,
          91.88843144788784,
          1.7118656705567574,
          -0.09429079794664297,
          0.8349452244221433
        ],
        "act_eef_pose_r": [
          607.1902644042035,
          -238.37554812687867,
          -15.631056653080122,
          1.5954174319100705,
          0.06367594473447473,
          2.445442795203601
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 92,
      "colors": {
        "rgb_main": "colors/000092_rgb_main.jpg",
        "rgb_wrist_0": "colors/000092_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000092_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000092_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3886442897647845,
          -0.32070219751954626,
          -0.11968327058019261,
          -1.4852643348916612,
          -0.0927498402716205,
          -0.4821545871564977,
          0.38717133336840015
        ],
        "joint_pos_r": [
          -0.45520626320773155,
          -1.1686544709851636,
          0.1215816318808545,
          -0.209248834245069,
          0.16037612673032506,
          1.1038768715300047,
          -0.5191612008908001
        ],
        "eef_pose_l": [
          465.7658256455175,
          351.07894990796996,
          92.60638273126014,
          1.7118063654403317,
          -0.09505160364426489,
          0.8374173305778464
        ],
        "eef_pose_r": [
          610.9291313316461,
          -245.70040862661486,
          -14.856338817903804,
          1.6036430441862435,
          0.06198630854856424,
          2.4306498391471107
        ],
        "joint_status_l": {
          "velocity": [
            0.12437142948851232,
            -0.11754052236989665,
            0.05138456669195879,
            0.6185817982355957,
            -0.01522755204508286,
            -0.7818917691588823,
            0.06159533156546715
          ],
          "torque": [
            -16.5087890625,
            7.87353515625,
            -13.458251953125,
            -2.459716796875,
            -1.56005859375,
            -2.5653076171875,
            -0.54107666015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.9042650164623467,
            1.5495903655970977,
            0.11998655741474185,
            -6.130296130562929,
            0.8705334233714002,
            -2.450168015516674,
            -1.832488833297674
          ],
          "torque": [
            28.5498046875,
            14.49462890625,
            7.293701171875,
            -13.775634765625,
            5.09033203125,
            0.150146484375,
            -0.6866455078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.7,
            -8.3,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.7,
            -8.3,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.5,
            -17.9,
            -5.6,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -17.9,
            -5.6,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -230,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -162,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.38994466008484674,
          -0.32178018243455586,
          -0.11923791484874827,
          -1.4803843534827488,
          -0.09292482160079354,
          -0.48887231742803344,
          0.38797818495737896
        ],
        "act_joint_pos_r": [
          -0.46378852645539714,
          -1.1478555762082376,
          0.1230401728340991,
          -0.28095775157509023,
          0.16891167259799425,
          1.0801337640894468,
          -0.5362664638774264
        ],
        "act_eef_pose_l": [
          465.7190875079824,
          351.38709076978364,
          91.85963144788779,
          1.7119114854921538,
          -0.09432988482117464,
          0.8346099224190677
        ],
        "act_eef_pose_r": [
          605.7910644042034,
          -237.51874812687868,
          -14.369456653080078,
          1.5919013367981754,
          0.06270541148528304,
          2.451776788925689
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 93,
      "colors": {
        "rgb_main": "colors/000093_rgb_main.jpg",
        "rgb_wrist_0": "colors/000093_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000093_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000093_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3888865875491503,
          -0.32092030266446414,
          -0.11958979023384216,
          -1.4841736974490884,
          -0.09278064324320148,
          -0.4835727732460354,
          0.38730307307986545
        ],
        "joint_pos_r": [
          -0.45730503578548415,
          -1.1642902015440486,
          0.12190041436058689,
          -0.225181775479864,
          0.1624310667379533,
          1.0981284942971878,
          -0.5233782291644915
        ],
        "eef_pose_l": [
          465.7699358957789,
          351.171221338713,
          92.4597903324574,
          1.7118221689873994,
          -0.09490130467118507,
          0.836895928280671
        ],
        "eef_pose_r": [
          609.8821622900223,
          -243.78355666661344,
          -14.915133618443775,
          1.6011601328971612,
          0.06230568532210117,
          2.435122903197735
        ],
        "joint_status_l": {
          "velocity": [
            0.11426846368678412,
            -0.09286427628429905,
            0.038001420798239316,
            0.40923707856244107,
            -0.01557080338354666,
            -0.5723338915695209,
            0.07290993240793853
          ],
          "torque": [
            -17.51953125,
            7.2216796875,
            -12.530517578125,
            -0.103759765625,
            -1.651611328125,
            -2.508544921875,
            0.24261474609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.7001963411630285,
            1.7748871887697248,
            0.12309028478540984,
            -6.023627760880057,
            0.6998847908858963,
            -1.9433735456972911,
            -1.3918882974461866
          ],
          "torque": [
            29.501953125,
            8.671875,
            9.3994140625,
            -4.803466796875,
            5.438232421875,
            1.4739990234375,
            -0.567626953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.3,
            -8.5,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.3,
            -8.5,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -17.7,
            -0.1,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -17.7,
            -0.1,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -238,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -156,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3908107555692832,
          -0.3212369084144411,
          -0.11941653506102766,
          -1.481438057651675,
          -0.09726458917148308,
          -0.48690331740674014,
          0.3927498909041674
        ],
        "act_joint_pos_r": [
          -0.46261142890736684,
          -1.1494760778092603,
          0.12295857846597205,
          -0.27727013541117784,
          0.16782553095787514,
          1.0925856242903258,
          -0.5363035081900046
        ],
        "act_eef_pose_l": [
          465.74068750798244,
          351.60309076978365,
          91.89963144788776,
          1.710948011482528,
          -0.09508360474472552,
          0.836531740456085
        ],
        "act_eef_pose_r": [
          604.6502644042034,
          -236.24994812687868,
          -13.027856653080107,
          1.587244403010829,
          0.06411707416278295,
          2.4611388328117827
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 94,
      "colors": {
        "rgb_main": "colors/000094_rgb_main.jpg",
        "rgb_wrist_0": "colors/000094_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000094_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000094_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3891239922912477,
          -0.3210407671001839,
          -0.1195379552897192,
          -1.4835649401018303,
          -0.09305831815039847,
          -0.48439535904225084,
          0.38769972134320085
        ],
        "joint_pos_r": [
          -0.4581214015444669,
          -1.1621225501609072,
          0.1220529632024546,
          -0.23266902225717287,
          0.16325358957441685,
          1.0965249406879585,
          -0.5251724270631273
        ],
        "eef_pose_l": [
          465.7623631151106,
          351.22181725588035,
          92.35581924027889,
          1.711782784645155,
          -0.09484367480937411,
          0.8366028519918903
        ],
        "eef_pose_r": [
          609.257093470268,
          -242.81947101093814,
          -14.755580088444503,
          1.5995439629184938,
          0.06246119059381382,
          2.4381227998373403
        ],
        "joint_status_l": {
          "velocity": [
            0.1821650613562653,
            -0.02118263719097513,
            0.01311299795148102,
            0.22969653008075852,
            -0.45426387248037603,
            -0.2708515150260382,
            0.5454022268054359
          ],
          "torque": [
            -17.32177734375,
            9.04541015625,
            -12.04833984375,
            -0.28076171875,
            -2.5360107421875,
            -2.640380859375,
            0.28656005859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.48490865357653234,
            1.3657787324881099,
            0.09780356389799127,
            -4.816778157354706,
            0.49375510688487445,
            -0.4254336234508216,
            -1.202121307029902
          ],
          "torque": [
            29.970703125,
            6.46728515625,
            9.47265625,
            -5.670166015625,
            5.4345703125,
            1.556396484375,
            -0.69671630859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.7,
            -8.6,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.6,
            -16.7,
            -8.6,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -18.0,
            0.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -18.0,
            0.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -209,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -148,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3904715833942677,
          -0.32229357912570405,
          -0.11904562667068641,
          -1.4786333501791438,
          -0.09850896520750065,
          -0.49070703824989703,
          0.39399983272576555
        ],
        "act_joint_pos_r": [
          -0.46218247358380804,
          -1.1406302517699785,
          0.12354543310676197,
          -0.30438220815010786,
          0.1706504830758808,
          1.086875033796489,
          -0.5397272027983578
        ],
        "act_eef_pose_l": [
          465.92948750798246,
          351.5926907697837,
          92.01163144788784,
          1.7096703172136671,
          -0.09504836968541039,
          0.8348736436654353
        ],
        "act_eef_pose_r": [
          602.8870644042034,
          -233.41394812687867,
          -10.280656653080086,
          1.5795839325091137,
          0.06464850222319254,
          2.470987034598033
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 95,
      "colors": {
        "rgb_main": "colors/000095_rgb_main.jpg",
        "rgb_wrist_0": "colors/000095_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000095_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000095_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.38940251699715234,
          -0.3211368494415889,
          -0.11949493376560673,
          -1.483025908455118,
          -0.09387433265317872,
          -0.4850598205667212,
          0.388665267629079
        ],
        "joint_pos_r": [
          -0.45888434770094594,
          -1.1592487480057114,
          0.12225539684027864,
          -0.2425097018747331,
          0.16426563123450713,
          1.095416692871276,
          -0.5273873501529233
        ],
        "eef_pose_l": [
          465.7694818373708,
          351.2883767237316,
          92.28119540664817,
          1.7115631787707217,
          -0.09488259081372384,
          0.8364922310560227
        ],
        "eef_pose_r": [
          608.3538523869472,
          -241.44721782006363,
          -14.270354138098014,
          1.5968291717772265,
          0.06277510143131901,
          2.4429183826566656
        ],
        "joint_status_l": {
          "velocity": [
            0.11545576570259897,
            -0.12492312147394102,
            0.04852373512032049,
            0.4743823026487348,
            -0.5005255536546516,
            -0.6098815222888021,
            0.5761160388075837
          ],
          "torque": [
            -17.6953125,
            7.5439453125,
            -11.8408203125,
            0.7080078125,
            -3.1475830078125,
            -2.7301025390625,
            0.48980712890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.35618709017226635,
            2.010738289904168,
            0.13931980776205055,
            -6.6820336016937265,
            0.689543661865244,
            -0.9224719732214837,
            -1.3326647808602488
          ],
          "torque": [
            29.9560546875,
            6.7822265625,
            10.04638671875,
            -5.023193359375,
            5.548095703125,
            1.640625,
            -0.7635498046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.7,
            -8.7,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.7,
            -8.7,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -18.6,
            0.9,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -18.6,
            0.9,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -276,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -131,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39051427355052615,
          -0.3230527067197676,
          -0.1187929327377703,
          -1.4769967886066966,
          -0.10027974382859155,
          -0.49270085731954605,
          0.39716776165686785
        ],
        "act_joint_pos_r": [
          -0.4608553355037168,
          -1.1179780811465214,
          0.12490353673449348,
          -0.3609842442612183,
          0.1665704000706807,
          1.069443494460747,
          -0.5407223697781235
        ],
        "act_eef_pose_l": [
          466.0782875079824,
          351.5654907697837,
          92.02603144788786,
          1.7087099037915554,
          -0.09637288938424311,
          0.8339414797482743
        ],
        "act_eef_pose_r": [
          599.0766644042035,
          -230.28594812687868,
          -6.218256653080061,
          1.5751436462808992,
          0.06598121486556834,
          2.487650196722775
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 96,
      "colors": {
        "rgb_main": "colors/000096_rgb_main.jpg",
        "rgb_wrist_0": "colors/000096_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000096_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000096_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.38960999007296243,
          -0.3214511808048959,
          -0.11937815314156879,
          -1.4819893097702597,
          -0.09497360661540516,
          -0.48637861860421694,
          0.3900729260751346
        ],
        "joint_pos_r": [
          -0.459371795108201,
          -1.1543235802356189,
          0.12258140774376736,
          -0.2575303869200327,
          0.16510034559854933,
          1.0926496112713882,
          -0.5296408931209233
        ],
        "eef_pose_l": [
          465.8184669903361,
          351.3419875934655,
          92.23095973954086,
          1.7110897325203303,
          -0.09507746044957956,
          0.8360650045187921
        ],
        "eef_pose_r": [
          607.2003133607966,
          -239.79903994227615,
          -13.309278056319414,
          1.5934596566116592,
          0.06315081240431678,
          2.4490905542664145
        ],
        "joint_status_l": {
          "velocity": [
            0.0976597352568831,
            -0.17295969763253538,
            0.06320193956876885,
            0.5391763835067565,
            -0.5730459179382752,
            -0.6827816436874024,
            0.7662196443867231
          ],
          "torque": [
            -17.4609375,
            6.3134765625,
            -11.4013671875,
            0.457763671875,
            -3.3746337890625,
            -2.757568359375,
            0.60150146484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.1602176373487474,
            3.9251981340928666,
            0.2507825345628989,
            -11.172687072056986,
            0.15876120057867205,
            -2.506186699523738,
            -1.1967641823042996
          ],
          "torque": [
            30.05859375,
            7.41943359375,
            10.430908203125,
            -6.329345703125,
            5.3466796875,
            1.746826171875,
            -0.7159423828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.7,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.7,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.6,
            -18.7,
            -1.3,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.6,
            -18.7,
            -1.3,
            1.1,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -299,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -112,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3901648500626648,
          -0.3226587825773612,
          -0.11901732607735323,
          -1.4807142394523114,
          -0.0995205178932573,
          -0.4897567873815002,
          0.3969484999891652
        ],
        "act_joint_pos_r": [
          -0.46017068790479954,
          -1.0971106648611268,
          0.12612488679371858,
          -0.4057113165296424,
          0.15790799554330226,
          1.0600621876123557,
          -0.5356365156496639
        ],
        "act_eef_pose_l": [
          465.7870875079824,
          350.78629076978365,
          92.29563144788771,
          1.7087837610729706,
          -0.09695295532281009,
          0.8333736061059543
        ],
        "act_eef_pose_r": [
          594.6942644042035,
          -228.9251481268787,
          -3.515056653080137,
          1.5750659328143015,
          0.06458489541536086,
          2.504423566358371
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 97,
      "colors": {
        "rgb_main": "colors/000097_rgb_main.jpg",
        "rgb_wrist_0": "colors/000097_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000097_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000097_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3897192201264781,
          -0.32167001268388795,
          -0.11930726681443923,
          -1.4815880502234677,
          -0.09576023762902626,
          -0.48708574800024335,
          0.39121454185106924
        ],
        "joint_pos_r": [
          -0.459547583618175,
          -1.1462729678962147,
          0.12308463675151732,
          -0.2789865059053728,
          0.16448040787469975,
          1.0879015203053597,
          -0.5309567706904729
        ],
        "eef_pose_l": [
          465.8282789142442,
          351.29052066631573,
          92.22716103193594,
          1.7107094108488374,
          -0.09535429510020622,
          0.8356495037768915
        ],
        "eef_pose_r": [
          605.5999911433091,
          -238.1082280132646,
          -11.94530578423803,
          1.5904262238424065,
          0.06333530126135518,
          2.4570830331044156
        ],
        "joint_status_l": {
          "velocity": [
            0.04812661368935878,
            -0.10678399906938196,
            0.031312676087358327,
            0.09436878002766491,
            -0.4060982913079991,
            -0.28846374539215347,
            0.6192492151351203
          ],
          "torque": [
            -19.76806640625,
            6.45263671875,
            -16.162109375,
            0.054931640625,
            -3.2720947265625,
            -2.8033447265625,
            0.62347412109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.06729327824617215,
            5.309372136228063,
            0.32833732076609223,
            -13.685875904087652,
            -0.7097995973708304,
            -3.0065592571189015,
            -0.505397549688702
          ],
          "torque": [
            29.71435546875,
            7.56591796875,
            10.546875,
            -5.87158203125,
            3.343505859375,
            1.058349609375,
            -0.6500244140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.7,
            -7.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.7,
            -7.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.8,
            -17.7,
            -1.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -17.7,
            -1.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -234,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -74,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39124986932679745,
          -0.32270213019366895,
          -0.11892274947969422,
          -1.4781386091160784,
          -0.09862354056778576,
          -0.4922251224603144,
          0.39629395428320474
        ],
        "act_joint_pos_r": [
          -0.45989477718292937,
          -1.0825818701968761,
          0.12704190972118803,
          -0.43666385260371177,
          0.1509765433278476,
          1.0504337181003445,
          -0.5323656721239537
        ],
        "act_eef_pose_l": [
          465.7686875079824,
          351.35429076978363,
          91.64843144788783,
          1.7098878177820753,
          -0.09642817981459263,
          0.8332115627196014
        ],
        "act_eef_pose_r": [
          591.8630644042034,
          -228.3171481268787,
          -2.114256653080247,
          1.5772657060305488,
          0.06440923799918499,
          2.513642538587921
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 98,
      "colors": {
        "rgb_main": "colors/000098_rgb_main.jpg",
        "rgb_wrist_0": "colors/000098_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000098_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000098_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.38992044788271646,
          -0.3218497269810359,
          -0.11924533056429554,
          -1.481142911734055,
          -0.09632386933850588,
          -0.48783654411741956,
          0.39215449306973504
        ],
        "joint_pos_r": [
          -0.4596225755410238,
          -1.1367458050467443,
          0.12367565155115706,
          -0.30289817404579034,
          0.16271049563864848,
          1.082367166171661,
          -0.5314007638222432
        ],
        "eef_pose_l": [
          465.8189722491632,
          351.2652849808892,
          92.16585858378004,
          1.7104954098777174,
          -0.09557681069861129,
          0.8352274543425691
        ],
        "eef_pose_r": [
          603.7290607889948,
          -236.55392690616844,
          -10.504742883712282,
          1.5881023084166823,
          0.06332571507511947,
          2.465759098487867
        ],
        "joint_status_l": {
          "velocity": [
            0.143573281492948,
            -0.09205683189339453,
            0.03483772965306997,
            0.3244551134500284,
            -0.24835716785909234,
            -0.47395248255099887,
            0.44704862606037565
          ],
          "torque": [
            -16.669921875,
            5.55908203125,
            -16.925048828125,
            0.25634765625,
            -3.427734375,
            -2.4591064453125,
            0.69671630859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.029396910310008906,
            5.849532441049021,
            0.3635451601718964,
            -14.446267214379027,
            -1.267229474631204,
            -3.448710677417921,
            -0.10420702316293884
          ],
          "torque": [
            32.6953125,
            7.43408203125,
            10.9375,
            -5.57861328125,
            2.8546142578125,
            1.0162353515625,
            -0.49530029296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -16.3,
            -9.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.3,
            -9.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.2,
            -17.4,
            -0.5,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -17.4,
            -0.5,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -204,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -112,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39257089216078456,
          -0.3223933884551533,
          -0.11889117838905464,
          -1.4746606552865242,
          -0.10175721523934159,
          -0.49499552318342194,
          0.3991380482479225
        ],
        "act_joint_pos_r": [
          -0.458585310463691,
          -1.0552264827597289,
          0.12887164439013934,
          -0.4955324414089507,
          0.13262480804785515,
          1.0310361833075221,
          -0.523839318354067
        ],
        "act_eef_pose_l": [
          465.9182875079824,
          352.44069076978366,
          91.26043144788768,
          1.7094722120561283,
          -0.0960470520408062,
          0.8346762206620619
        ],
        "act_eef_pose_r": [
          586.1534644042034,
          -226.83234812687868,
          0.28174334691993863,
          1.5852818110555305,
          0.06549209473253682,
          2.5325964552748554
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 99,
      "colors": {
        "rgb_main": "colors/000099_rgb_main.jpg",
        "rgb_wrist_0": "colors/000099_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000099_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000099_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3902880665143725,
          -0.3219550188044036,
          -0.1191887371674005,
          -1.480256556265291,
          -0.09705553726094963,
          -0.4888706257693581,
          0.3931559367808421
        ],
        "joint_pos_r": [
          -0.4595370778486792,
          -1.1251205976013494,
          0.12441104362509278,
          -0.3307440038848683,
          0.15895612953053556,
          1.0751880765039417,
          -0.5307113147400057
        ],
        "eef_pose_l": [
          465.8278590433732,
          351.4021579612612,
          92.03627343163326,
          1.7103520611195857,
          -0.09567149525291878,
          0.8350591853436243
        ],
        "eef_pose_r": [
          601.4841596427877,
          -235.0800303077897,
          -9.003919589016363,
          1.5871032865126715,
          0.06328130913403446,
          2.4754987705552356
        ],
        "joint_status_l": {
          "velocity": [
            0.2465378985654354,
            -0.047342525987925654,
            0.03213540027835471,
            0.6043394816668268,
            -0.5077662459014309,
            -0.6614694117215159,
            0.6460489842479156
          ],
          "torque": [
            -16.3623046875,
            7.3828125,
            -17.388916015625,
            -0.15869140625,
            -3.6566162109375,
            -2.67333984375,
            0.6463623046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.10278784601336355,
            7.5483417764559135,
            0.48173067473811226,
            -17.79662636916335,
            -2.8436988497153592,
            -4.768263832789721,
            0.7421537210277052
          ],
          "torque": [
            36.6064453125,
            8.6279296875,
            11.376953125,
            -4.9560546875,
            2.7227783203125,
            0.82763671875,
            0.40740966796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.5,
            -8.4,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.8,
            -16.5,
            -8.4,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.3,
            -17.6,
            0.0,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -17.6,
            0.0,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -181,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -101,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3925990065887405,
          -0.324854751181586,
          -0.1181914999964257,
          -1.4728956582883819,
          -0.1024999903502151,
          -0.49696983510601817,
          0.400418928645645
        ],
        "act_joint_pos_r": [
          -0.4561494754478867,
          -1.0513603490336227,
          0.12907120147117787,
          -0.49621750478150195,
          0.12432892053220222,
          1.0381515197486033,
          -0.5176868024032765
        ],
        "act_eef_pose_l": [
          466.2150875079824,
          351.6278907697837,
          90.91723144788766,
          1.7089432359909171,
          -0.09574402257562718,
          0.8322140666679676
        ],
        "act_eef_pose_r": [
          585.0126644042035,
          -227.9251481268787,
          1.1697433469198586,
          1.588143842876959,
          0.06630418475578892,
          2.539360684472707
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 100,
      "colors": {
        "rgb_main": "colors/000100_rgb_main.jpg",
        "rgb_wrist_0": "colors/000100_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000100_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000100_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39054730072882093,
          -0.3221475149328496,
          -0.11911450163362569,
          -1.4795225354033639,
          -0.09762925038051716,
          -0.48967650332787316,
          0.39390540681298924
        ],
        "joint_pos_r": [
          -0.45912651654964337,
          -1.1123781847233885,
          0.12521956432609582,
          -0.3599481249803466,
          0.1534753783910812,
          1.0680893789847319,
          -0.528884326759321
        ],
        "eef_pose_l": [
          465.85551907379244,
          351.4718728745836,
          91.92818404961213,
          1.7102252259548947,
          -0.09569434219994001,
          0.8348709747483158
        ],
        "eef_pose_r": [
          598.9284779351808,
          -233.7545379321404,
          -7.382907933355568,
          1.5870408929912094,
          0.06338969046359892,
          2.486263909020276
        ],
        "joint_status_l": {
          "velocity": [
            0.22157769778630154,
            -0.2923728917858526,
            0.09968123687675856,
            0.715681620516051,
            -0.5260244024669625,
            -0.7876566013496067,
            0.7034396110841001
          ],
          "torque": [
            -16.787109375,
            5.9765625,
            -13.97705078125,
            0.384521484375,
            -3.856201171875,
            -2.845458984375,
            0.538330078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.32151095653087935,
            6.5897319007417465,
            0.4159645434503867,
            -14.716658973869645,
            -3.1477246115840796,
            -3.2331934395584128,
            1.209296964145512
          ],
          "torque": [
            39.74853515625,
            6.76025390625,
            11.34033203125,
            -5.70068359375,
            2.2833251953125,
            1.0162353515625,
            0.57220458984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.8,
            -8.1,
            1.5,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.8,
            -8.1,
            1.5,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.5,
            -17.6,
            -0.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -17.6,
            -0.8,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -240,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -62,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3908170067075443,
          -0.32855317409217427,
          -0.1171631753590531,
          -1.4703379027501187,
          -0.10369709268265963,
          -0.49825995379911386,
          0.4021350834337455
        ],
        "act_joint_pos_r": [
          -0.45450502429683937,
          -1.0422480624447592,
          0.12970167481139505,
          -0.5116633965974615,
          0.11467825724447955,
          1.0308495168816636,
          -0.5101064191112596
        ],
        "act_eef_pose_l": [
          467.08708750798246,
          350.62229076978366,
          91.17563144788782,
          1.7072145019786087,
          -0.09645332542790706,
          0.8301519132074627
        ],
        "act_eef_pose_r": [
          583.7558644042035,
          -228.7827481268787,
          1.6785433469199234,
          1.5947952502475258,
          0.06543474828654393,
          2.542526019686814
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 101,
      "colors": {
        "rgb_main": "colors/000101_rgb_main.jpg",
        "rgb_wrist_0": "colors/000101_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000101_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000101_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3908065079431436,
          -0.32284109162233476,
          -0.11889155146068593,
          -1.4782022171923859,
          -0.09856000151483128,
          -0.4910409942213535,
          0.3951567776182362
        ],
        "joint_pos_r": [
          -0.4585941256393066,
          -1.10323939874874,
          0.12580041874193051,
          -0.38000390343453777,
          0.14872805012973014,
          1.0634013846286328,
          -0.5267812578445206
        ],
        "eef_pose_l": [
          465.97004972091156,
          351.44091298020254,
          91.76345894951251,
          1.7099033686381258,
          -0.09574089982266817,
          0.834278198305248
        ],
        "eef_pose_r": [
          597.0724047786888,
          -233.02007606114563,
          -6.222967951382515,
          1.5876513105650922,
          0.06347590607644649,
          2.493886902821865
        ],
        "joint_status_l": {
          "velocity": [
            0.0011338331145083203,
            -0.6168867126414845,
            0.18665911376014588,
            0.8493209103832555,
            -0.5547894834843081,
            -0.7796246405984419,
            0.7536348008043703
          ],
          "torque": [
            -20.10498046875,
            3.24462890625,
            -13.787841796875,
            -0.042724609375,
            -3.7994384765625,
            -2.7703857421875,
            0.5181884765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.44160992039854463,
            6.58687005148284,
            0.42132322923771337,
            -14.218805900331866,
            -3.6772691763502507,
            -3.5154980326010943,
            1.8008294705662564
          ],
          "torque": [
            41.572265625,
            7.6025390625,
            11.41357421875,
            -5.810546875,
            2.2119140625,
            1.0418701171875,
            0.72509765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.8,
            -8.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.8,
            -8.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.5,
            -0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.5,
            -0.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -213,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -64,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39127548382225635,
          -0.32921019819433833,
          -0.11693261106927129,
          -1.4682212065697757,
          -0.10673791503735881,
          -0.5007838048153024,
          0.40581149254774834
        ],
        "act_joint_pos_r": [
          -0.45392732067568176,
          -1.0367791087486629,
          0.13008089194162661,
          -0.5202502320268473,
          0.1072412994758647,
          1.0276689141566855,
          -0.5058777724596348
        ],
        "act_eef_pose_l": [
          467.2286875079824,
          350.76469076978367,
          91.13163144788773,
          1.705899479095139,
          -0.09700241676822251,
          0.8295907014537593
        ],
        "act_eef_pose_r": [
          582.7102644042035,
          -229.3411481268787,
          1.5321433469198382,
          1.6000250711867798,
          0.06583038030327835,
          2.5455518457246296
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 102,
      "colors": {
        "rgb_main": "colors/000102_rgb_main.jpg",
        "rgb_wrist_0": "colors/000102_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000102_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000102_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39084812037813155,
          -0.3241139209092483,
          -0.11850368785248318,
          -1.4763457003032958,
          -0.09991511973069997,
          -0.4927950502511166,
          0.3969585743551056
        ],
        "joint_pos_r": [
          -0.45777948042431216,
          -1.091315453561543,
          0.12656524301214286,
          -0.40551155530178734,
          0.1417551590810803,
          1.0570185476138336,
          -0.5233242022190041
        ],
        "eef_pose_l": [
          466.2203212742426,
          351.27886766247144,
          91.63288581472685,
          1.7092254091506456,
          -0.09593380036503318,
          0.8333461058716302
        ],
        "eef_pose_r": [
          594.6650760019277,
          -232.2754985849573,
          -4.8124400638278075,
          1.5893561331422028,
          0.06356876625916062,
          2.5033343523740577
        ],
        "joint_status_l": {
          "velocity": [
            0.04615389072926135,
            -0.5503817141487843,
            0.1696712883998419,
            0.8774194451177664,
            -0.7368401611802522,
            -0.862760047184441,
            0.9560869665272698
          ],
          "torque": [
            -20.537109375,
            4.248046875,
            -11.63330078125,
            0.0244140625,
            -3.7628173828125,
            -2.926025390625,
            0.71502685546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.41602098296911194,
            5.889751530856024,
            0.3796788863540401,
            -12.391411621156312,
            -3.7273869039631258,
            -3.169666929043302,
            1.8841588437177315
          ],
          "torque": [
            42.19482421875,
            6.11572265625,
            11.99951171875,
            -6.109619140625,
            2.0562744140625,
            1.3055419921875,
            0.70220947265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.9,
            -9.5,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.9,
            -9.5,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.3,
            -0.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.3,
            -0.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -217,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -51,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3921882850527712,
          -0.3289405658436248,
          -0.11699236018730509,
          -1.467798068000574,
          -0.10856815692352147,
          -0.5009542373791563,
          0.4079322295589042
        ],
        "act_joint_pos_r": [
          -0.4539915014479816,
          -1.0350676437559916,
          0.13021303771381887,
          -0.5213725574251522,
          0.10418603426009775,
          1.0287990723231433,
          -0.5038848137061652
        ],
        "act_eef_pose_l": [
          467.19268750798244,
          351.05509076978365,
          90.8940314478878,
          1.705797886750291,
          -0.09710035264830252,
          0.8302978940817608
        ],
        "act_eef_pose_r": [
          582.1822644042035,
          -229.7947481268787,
          1.2633433469197826,
          1.6020324423336894,
          0.06558042150070069,
          2.5472501610104192
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 103,
      "colors": {
        "rgb_main": "colors/000103_rgb_main.jpg",
        "rgb_wrist_0": "colors/000103_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000103_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000103_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3909894963926812,
          -0.3249955446136292,
          -0.11823021628507621,
          -1.474878712477996,
          -0.10125341094030012,
          -0.4942198177052667,
          0.39867675356461457
        ],
        "joint_pos_r": [
          -0.4568349579488072,
          -1.0775793196475396,
          0.12745376639591038,
          -0.43406641033735077,
          0.13278797420169844,
          1.0499113488763117,
          -0.5187290242649205
        ],
        "eef_pose_l": [
          466.39605182427914,
          351.2086122506676,
          91.52571591190696,
          1.7086372900273792,
          -0.0961245480843973,
          0.8327275987508591
        ],
        "eef_pose_r": [
          591.7952541569613,
          -231.62469588697326,
          -3.3431117625496256,
          1.5922553499535181,
          0.06380875969985356,
          2.514068286729341
        ],
        "joint_status_l": {
          "velocity": [
            0.129465356913272,
            -0.4260497271744157,
            0.1336845157453581,
            0.7646870503226211,
            -0.7899692672898029,
            -0.7272958743347324,
            0.9995619268798883
          ],
          "torque": [
            -16.97021484375,
            4.46044921875,
            -10.888671875,
            -0.518798828125,
            -3.7225341796875,
            -2.83447265625,
            0.75714111328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3070842451236011,
            4.591125588276235,
            0.2979925135146999,
            -9.42878579831019,
            -3.0889184109142986,
            -2.2800586210083296,
            1.6031274586287836
          ],
          "torque": [
            43.95263671875,
            6.9140625,
            12.603759765625,
            -5.6884765625,
            2.2705078125,
            0.88623046875,
            0.80841064453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.5,
            -7.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.5,
            -7.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.8,
            -17.4,
            -1.4,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -17.4,
            -1.4,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -204,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -55,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39318752800561146,
          -0.3279509600777824,
          -0.11732678276252702,
          -1.470343690704869,
          -0.10927404464458605,
          -0.4988575964637103,
          0.40831650861230784
        ],
        "act_joint_pos_r": [
          -0.45519400966226176,
          -1.0314298690172277,
          0.1305054426432606,
          -0.5279792964730075,
          0.09915002015079821,
          1.0258008567744294,
          -0.5000154918732552
        ],
        "act_eef_pose_l": [
          466.8166875079824,
          350.89909076978364,
          90.71323144788771,
          1.7062639901748609,
          -0.09643355339374902,
          0.830877026821062
        ],
        "act_eef_pose_r": [
          581.1398644042035,
          -229.95954812687867,
          0.2561433469197709,
          1.6064685089412434,
          0.06345443868410694,
          2.5493042842032327
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 104,
      "colors": {
        "rgb_main": "colors/000104_rgb_main.jpg",
        "rgb_wrist_0": "colors/000104_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000104_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000104_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39125951809936294,
          -0.32563555175431363,
          -0.11803078614437382,
          -1.4737747205961318,
          -0.10258773850895933,
          -0.4952886843664798,
          0.4003355299043132
        ],
        "joint_pos_r": [
          -0.45658397178334476,
          -1.072570791807285,
          0.12778212194936608,
          -0.4443021986546677,
          0.12926780884809205,
          1.0473547543218311,
          -0.5168291161748932
        ],
        "eef_pose_l": [
          466.5149883429493,
          351.17202521153894,
          91.40257699186364,
          1.708167673134149,
          -0.09625471848282419,
          0.8323270067192376
        ],
        "eef_pose_r": [
          590.703049779034,
          -231.43117512793054,
          -2.903841269147449,
          1.5936124224035428,
          0.06378815306460861,
          2.5179542669606203
        ],
        "joint_status_l": {
          "velocity": [
            0.20821892878553072,
            -0.2500567239054341,
            0.07603012285084532,
            0.37054029975536196,
            -0.7220997654534544,
            -0.3854311388167275,
            0.8619202794832859
          ],
          "torque": [
            -15.94482421875,
            4.833984375,
            -10.4248046875,
            -0.9033203125,
            -3.922119140625,
            -2.841796875,
            0.6463623046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.15011148177590528,
            4.44308861943199,
            0.2941099606308395,
            -9.036860036440775,
            -3.252625248253982,
            -2.3277522817366503,
            1.8158178698919336
          ],
          "torque": [
            43.0078125,
            8.19580078125,
            12.640380859375,
            -6.4208984375,
            2.0196533203125,
            1.1956787109375,
            0.76629638671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.4,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.4,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.6,
            -17.4,
            -0.9,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -17.4,
            -0.9,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -234,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -41,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3938669456247075,
          -0.3264917779493376,
          -0.11774728440527071,
          -1.4718019417120123,
          -0.10785068427327464,
          -0.4979348693923426,
          0.40612642537950006
        ],
        "act_joint_pos_r": [
          -0.45664340970808803,
          -1.0258567751891574,
          0.13091179658854968,
          -0.5388687035800993,
          0.09502879193374227,
          1.0225740768823235,
          -0.495497728253145
        ],
        "act_eef_pose_l": [
          466.4214875079824,
          351.17509076978365,
          90.54523144788782,
          1.707374547965325,
          -0.09544985835879748,
          0.8315619869358905
        ],
        "act_eef_pose_r": [
          579.5286644042035,
          -229.9387481268787,
          -0.3022566530801214,
          1.609410543330554,
          0.06001780767016733,
          2.552819678255625
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 105,
      "colors": {
        "rgb_main": "colors/000105_rgb_main.jpg",
        "rgb_wrist_0": "colors/000105_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000105_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000105_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3916531413386692,
          -0.3258515358532527,
          -0.11796250186422369,
          -1.4733752284439972,
          -0.10352632005194067,
          -0.495771273743102,
          0.4014004304078555
        ],
        "joint_pos_r": [
          -0.45643662093063087,
          -1.066081104967619,
          0.12821335036492726,
          -0.4574820903471303,
          0.12451512642402872,
          1.0439413008897873,
          -0.5140785299214563
        ],
        "eef_pose_l": [
          466.51994806443275,
          351.1580424689623,
          91.26994595831829,
          1.7079819794588784,
          -0.09617198940468431,
          0.8321638378584629
        ],
        "eef_pose_r": [
          589.2420709774511,
          -231.21055243768944,
          -2.476479399785916,
          1.5956943371175372,
          0.06347141388042368,
          2.522900090287075
        ],
        "joint_status_l": {
          "velocity": [
            0.23908381149162494,
            -0.06914410708080965,
            0.02324280005727708,
            0.16990995582766288,
            -0.467017561957328,
            -0.23366143864222977,
            0.5103924037181962
          ],
          "torque": [
            -16.12060546875,
            4.6875,
            -14.4775390625,
            -0.054931640625,
            -3.7957763671875,
            -2.9388427734375,
            0.648193359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.022332529302282467,
            4.344099493708065,
            0.29142359707168275,
            -8.789494996862768,
            -3.1844302052025375,
            -2.3075921340147687,
            2.0066673966865345
          ],
          "torque": [
            42.67822265625,
            7.96875,
            12.982177734375,
            -5.438232421875,
            2.244873046875,
            1.0821533203125,
            0.64910888671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.7,
            -8.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -16.7,
            -8.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.8,
            -17.6,
            -0.7,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -17.6,
            -0.7,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -190,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -32,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3950678100718271,
          -0.32304649194978835,
          -0.1188246471262132,
          -1.4774929764514209,
          -0.11055405591096318,
          -0.4924416707894352,
          0.40856362129208323
        ],
        "act_joint_pos_r": [
          -0.4570492693666153,
          -1.0152767769123061,
          0.13159164334974144,
          -0.5540778182591163,
          0.08646501396349439,
          1.0198852010645858,
          -0.48905944702933773
        ],
        "act_eef_pose_l": [
          465.7342875079824,
          351.55829076978364,
          90.86923144788766,
          1.707428401963031,
          -0.09585970968124533,
          0.8349708355139291
        ],
        "act_eef_pose_r": [
          577.1550644042035,
          -231.34674812687868,
          -0.375056653080037,
          1.614952939172002,
          0.05851522082405964,
          2.5579292756862517
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 106,
      "colors": {
        "rgb_main": "colors/000106_rgb_main.jpg",
        "rgb_wrist_0": "colors/000106_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000106_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000106_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3921800694824922,
          -0.32557596023902746,
          -0.11804602225931685,
          -1.4737392505507663,
          -0.10459596008920581,
          -0.4955339476038185,
          0.4025110461179598
        ],
        "joint_pos_r": [
          -0.4565135518382057,
          -1.0579167636230387,
          0.12875807943904694,
          -0.4733847054589724,
          0.11844989668228362,
          1.0398959464727744,
          -0.5101529030302588
        ],
        "eef_pose_l": [
          466.4250947562109,
          351.20418454774483,
          91.17847204239968,
          1.7078783829466802,
          -0.09609061242191876,
          0.8324414040209415
        ],
        "eef_pose_r": [
          587.3622187489943,
          -231.13147944547458,
          -2.135231202584265,
          1.5986755219952042,
          0.06257428141816801,
          2.528749962714212
        ],
        "joint_status_l": {
          "velocity": [
            0.3118667856290003,
            0.27317451838593243,
            -0.08408900555212373,
            -0.40539044091936205,
            -0.6434553710480406,
            0.3339560464463709,
            0.6536588401679921
          ],
          "torque": [
            -15.8935546875,
            9.85107421875,
            -16.97998046875,
            -4.107666015625,
            -3.6895751953125,
            -1.234130859375,
            0.6646728515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.05785578670280955,
            4.60498274805321,
            0.3060158768990462,
            -8.714599159052483,
            -3.454265455515415,
            -2.1610967659420055,
            2.2780260613122216
          ],
          "torque": [
            36.23291015625,
            9.111328125,
            13.201904296875,
            -6.671142578125,
            2.091064453125,
            0.673828125,
            0.60791015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.3,
            -8.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -16.3,
            -8.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.4,
            -17.4,
            -1.1,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -17.4,
            -1.1,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -223,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -47,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3963479124564107,
          -0.32105091421453724,
          -0.11937677710366276,
          -1.4782388233687094,
          -0.11131523967834267,
          -0.4914379285707599,
          0.40789041416596106
        ],
        "act_joint_pos_r": [
          -0.45755069053654784,
          -1.0019045140543543,
          0.1324156139875876,
          -0.5696934492365959,
          0.07538837618310135,
          1.016536301140249,
          -0.48148011894066556
        ],
        "act_eef_pose_l": [
          465.4094875079824,
          352.4038907697837,
          90.65003144788788,
          1.7081916558159542,
          -0.09448301086711201,
          0.8373295317746838
        ],
        "act_eef_pose_r": [
          574.6062644042034,
          -234.3187481268787,
          -0.8438566530801381,
          1.6235306618499021,
          0.05776995401966241,
          2.5612645759809176
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 107,
      "colors": {
        "rgb_main": "colors/000107_rgb_main.jpg",
        "rgb_wrist_0": "colors/000107_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000107_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000107_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39278212621117703,
          -0.3249616369047446,
          -0.11822894227636219,
          -1.4744305313975385,
          -0.10565115455342768,
          -0.49492575429358016,
          0.40343910056594756
        ],
        "joint_pos_r": [
          -0.45665814515936143,
          -1.049047580661563,
          0.12934103376679554,
          -0.4892051380901181,
          0.11169296049781506,
          1.0360247794443818,
          -0.5056695232713713
        ],
        "eef_pose_l": [
          466.2794895439984,
          351.34656737227,
          91.10596173014864,
          1.7078761740998885,
          -0.0959154596532459,
          0.8330919183412817
        ],
        "eef_pose_r": [
          585.376776344306,
          -231.47368543279595,
          -1.9073639373067977,
          1.6024074411750229,
          0.06164727422219819,
          2.5343082742985086
        ],
        "joint_status_l": {
          "velocity": [
            0.385093556757532,
            0.42234559412523964,
            -0.12396250526969244,
            -0.4112834027303336,
            -0.6117031522706595,
            0.3766740686570458,
            0.4807276904958968
          ],
          "torque": [
            -16.72119140625,
            10.96435546875,
            -17.7490234375,
            -4.071044921875,
            -3.621826171875,
            -0.8880615234375,
            0.66558837890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.09639205780409554,
            5.091301033681717,
            0.3320448707054835,
            -8.69248123278954,
            -3.92077946878,
            -2.1046935822273127,
            2.612378619727629
          ],
          "torque": [
            34.1455078125,
            9.45556640625,
            13.177490234375,
            -5.596923828125,
            2.0672607421875,
            1.080322265625,
            0.57861328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -16.3,
            -6.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.3,
            -6.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.5,
            -17.1,
            -0.7,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -17.1,
            -0.7,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -225,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -43,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3971165014508708,
          -0.32015968646705234,
          -0.11970101698011888,
          -1.480832012369619,
          -0.1127178746302567,
          -0.4877562427027522,
          0.4090865257789756
        ],
        "act_joint_pos_r": [
          -0.45811439876902105,
          -0.9971220605215092,
          0.1327561076948796,
          -0.5760339523523496,
          0.0727651753379095,
          1.0146444819394307,
          -0.47985517229909985
        ],
        "act_eef_pose_l": [
          465.2742875079824,
          352.4294907697837,
          90.53563144788772,
          1.7086600850951912,
          -0.09434602072748006,
          0.8393354054664784
        ],
        "act_eef_pose_r": [
          573.6870644042034,
          -235.24194812687867,
          -0.9846566530802647,
          1.6257338918108852,
          0.05755417247494808,
          2.561990748755721
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 108,
      "colors": {
        "rgb_main": "colors/000108_rgb_main.jpg",
        "rgb_wrist_0": "colors/000108_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000108_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000108_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3932869093254035,
          -0.32440454183905654,
          -0.11839697265376367,
          -1.4750974323504957,
          -0.10646608471669552,
          -0.49422075651996705,
          0.40408630448589866
        ],
        "joint_pos_r": [
          -0.45688699416480727,
          -1.0401095971503636,
          0.12992755499928138,
          -0.5042351892518884,
          0.10494342450525862,
          1.0323406423375947,
          -0.5011878546605142
        ],
        "eef_pose_l": [
          466.1605286818194,
          351.48174344572845,
          91.0405415313935,
          1.7079448102843449,
          -0.0957248895529916,
          0.8337711931150845
        ],
        "eef_pose_r": [
          583.421649425048,
          -232.10364608983417,
          -1.7714335859225798,
          1.606419922364899,
          0.060814124233367885,
          2.539232387364858
        ],
        "joint_status_l": {
          "velocity": [
            0.413583751549762,
            0.45843085948105156,
            -0.1408326336097554,
            -0.6193163763050791,
            -0.6751733974896812,
            0.6981469015170383,
            0.5400079729684926
          ],
          "torque": [
            -16.70654296875,
            10.96435546875,
            -18.231201171875,
            -5.1025390625,
            -3.6419677734375,
            -0.904541015625,
            0.66009521484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.13255578773119225,
            4.642517032196203,
            0.30547468163044655,
            -7.754037721731777,
            -3.4751484160499,
            -1.9111289572659729,
            2.3038617462627364
          ],
          "torque": [
            30.75439453125,
            7.6318359375,
            13.507080078125,
            -6.072998046875,
            1.9903564453125,
            0.8203125,
            0.56396484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.9,
            -8.4,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.9,
            -8.4,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.5,
            -17.4,
            -0.8,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -17.4,
            -0.8,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -240,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -13,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39630457541413966,
          -0.32132692730843926,
          -0.1195116761768601,
          -1.4845245372120053,
          -0.11113630825609863,
          -0.4832408391240736,
          0.4073490971703387
        ],
        "act_joint_pos_r": [
          -0.4588683554084034,
          -0.9921826171111012,
          0.13310292631151543,
          -0.5821370813041145,
          0.0703373276385264,
          1.0130514024239077,
          -0.47687972487112773
        ],
        "act_eef_pose_l": [
          465.3486875079824,
          351.1286907697837,
          90.60123144788786,
          1.7092308043542979,
          -0.09399375993902166,
          0.8387158624030658
        ],
        "act_eef_pose_r": [
          572.7206644042035,
          -236.31314812687867,
          -1.1958566530802273,
          1.6279035500187835,
          0.05579087310148697,
          2.5624713120339195
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 109,
      "colors": {
        "rgb_main": "colors/000109_rgb_main.jpg",
        "rgb_wrist_0": "colors/000109_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000109_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000109_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3938692955632063,
          -0.3237745355271662,
          -0.11860034890595313,
          -1.4762547423869048,
          -0.10740194533978495,
          -0.4928956314646969,
          0.4048073559437307
        ],
        "joint_pos_r": [
          -0.4571738523533574,
          -1.032485265868843,
          0.1304316918628403,
          -0.5167272653608115,
          0.09937950522236515,
          1.0292517085071442,
          -0.49734510328079506
        ],
        "eef_pose_l": [
          466.0199658820904,
          351.5619856162992,
          90.96190379590524,
          1.708088941969999,
          -0.09547808627649966,
          0.8346511145895689
        ],
        "eef_pose_r": [
          581.7613547394099,
          -232.75054864451744,
          -1.6929908441733232,
          1.609840652277062,
          0.059989814969128794,
          2.543079995068748
        ],
        "joint_status_l": {
          "velocity": [
            0.26300246705757147,
            0.2643338915113702,
            -0.09842044250218951,
            -0.8931115001935552,
            -0.40329930028482064,
            1.0426868203832207,
            0.274499956530061
          ],
          "torque": [
            -17.04345703125,
            11.40380859375,
            -18.2861328125,
            -4.949951171875,
            -3.65478515625,
            -0.633544921875,
            0.63629150390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.18300093262046957,
            4.352557694009995,
            0.2884848120521255,
            -7.064051778806313,
            -3.1364626740327806,
            -1.7495814558436962,
            2.210195682006866
          ],
          "torque": [
            29.94140625,
            8.759765625,
            13.26904296875,
            -5.828857421875,
            2.3052978515625,
            0.8111572265625,
            0.7672119140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.6,
            -8.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -16.6,
            -8.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.7,
            -17.2,
            -0.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -17.2,
            -0.8,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -248,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -22,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3937647440402343,
          -0.3252372232424934,
          -0.11819678678951115,
          -1.4755333375214512,
          -0.10715286130611629,
          -0.492296780509537,
          0.4029880398127945
        ],
        "act_joint_pos_r": [
          -0.45905299517589304,
          -0.9887951325084507,
          0.13345322826560957,
          -0.5918567875880295,
          0.07034014164297496,
          1.0091996724385235,
          -0.4732618273454002
        ],
        "act_eef_pose_l": [
          466.3518875079824,
          351.21269076978365,
          90.67083144788766,
          1.7084282206533967,
          -0.0935787568893726,
          0.8346594589281372
        ],
        "act_eef_pose_r": [
          571.8622644042034,
          -235.52754812687868,
          -0.5270566530800807,
          1.6268623305275118,
          0.05197703249532214,
          2.5644833639227422
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 110,
      "colors": {
        "rgb_main": "colors/000110_rgb_main.jpg",
        "rgb_wrist_0": "colors/000110_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000110_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000110_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3941697580303536,
          -0.323589151232963,
          -0.11868148759817912,
          -1.477243596019771,
          -0.10785506416765388,
          -0.4916174000377091,
          0.4049740720319325
        ],
        "joint_pos_r": [
          -0.4575378585817357,
          -1.0239541477205125,
          0.1310129802696031,
          -0.5311050328674027,
          0.09353993994397028,
          1.0255086830462943,
          -0.4927739075925911
        ],
        "eef_pose_l": [
          465.96391423309035,
          351.47691391699834,
          90.89145537852804,
          1.7082590944141254,
          -0.09512686420820883,
          0.8351692834681061
        ],
        "eef_pose_r": [
          579.8851986363886,
          -233.37948735072263,
          -1.5367337021232288,
          1.6133451571983124,
          0.05857264567172723,
          2.5472844576756164
        ],
        "joint_status_l": {
          "velocity": [
            -0.04374022088393659,
            -0.17798652759681843,
            0.05234614346916189,
            0.18470247031032727,
            0.0758356723924436,
            -0.07337092699710723,
            -0.21448515376576438
          ],
          "torque": [
            -21.1083984375,
            5.85205078125,
            -13.043212890625,
            -1.715087890625,
            -1.790771484375,
            -2.080078125,
            -0.27923583984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.16362992616203442,
            3.7970616545557334,
            0.26353901090103715,
            -6.560996003593722,
            -2.5055043206075878,
            -1.7613211982476784,
            2.1072425169008646
          ],
          "torque": [
            29.9560546875,
            9.0234375,
            13.775634765625,
            -5.377197265625,
            2.24853515625,
            0.6427001953125,
            0.76263427734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -16.8,
            -9.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.1,
            -16.8,
            -9.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.5,
            -17.6,
            -0.9,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -17.6,
            -0.9,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -206,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -66,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3922404298198091,
          -0.3285953068838419,
          -0.11713239971990512,
          -1.469093487839876,
          -0.10349084625593201,
          -0.49779947057046486,
          0.3990184307704971
        ],
        "act_joint_pos_r": [
          -0.45872007298704126,
          -0.9854318513265414,
          0.13384576659720868,
          -0.6036912007378404,
          0.07085812543913361,
          1.0107675426592155,
          -0.4719874733995541
        ],
        "act_eef_pose_l": [
          467.17348750798243,
          351.1382907697837,
          90.36923144788788,
          1.7087528895791222,
          -0.09283822325736156,
          0.8319635924765596
        ],
        "act_eef_pose_r": [
          569.9990644042034,
          -233.46834812687865,
          1.1985433469199052,
          1.6220912084631476,
          0.050192767405863176,
          2.5731453595191436
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 111,
      "colors": {
        "rgb_main": "colors/000111_rgb_main.jpg",
        "rgb_wrist_0": "colors/000111_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000111_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000111_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.393967231116504,
          -0.32416895611602725,
          -0.11850437262308126,
          -1.4763881159206145,
          -0.10741639349188817,
          -0.49221012347662935,
          0.40428199155852523
        ],
        "joint_pos_r": [
          -0.4576739443909877,
          -1.02030937811204,
          0.13127293514693167,
          -0.537667330089389,
          0.09125511032935854,
          1.0239553442164337,
          -0.49077718172588336
        ],
        "eef_pose_l": [
          466.10334732882933,
          351.42407340952263,
          90.82666634334637,
          1.7083146966573786,
          -0.09478973264329559,
          0.834848096550344
        ],
        "eef_pose_r": [
          579.0294431404393,
          -233.5075224527477,
          -1.3726581873519876,
          1.6144797485428624,
          0.057797519359074005,
          2.5493929649496314
        ],
        "joint_status_l": {
          "velocity": [
            -0.1864890398426411,
            -0.4780317841301951,
            0.14816870354084077,
            0.7877965979030677,
            0.42394659784672495,
            -0.6036316829693966,
            -0.5684477996354964
          ],
          "torque": [
            -25.37109375,
            4.98779296875,
            -10.97412109375,
            -1.190185546875,
            -1.3238525390625,
            -2.26318359375,
            -0.4669189453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.11297855624903264,
            3.766661801082982,
            0.27785760165799367,
            -7.130367731077669,
            -2.2028093997539244,
            -1.424240562450052,
            2.0292286503438284
          ],
          "torque": [
            30.556640625,
            6.46728515625,
            13.87939453125,
            -5.89599609375,
            2.296142578125,
            1.094970703125,
            0.7965087890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.4,
            -9.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.4,
            -9.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -17.5,
            -0.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -17.5,
            -0.8,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -251,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 43,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3920411193332466,
          -0.3301372444871785,
          -0.11670939508076429,
          -1.46793322754058,
          -0.10158342034601325,
          -0.4983568329202677,
          0.39622435014192986
        ],
        "act_joint_pos_r": [
          -0.4584633437549277,
          -0.9864567647143182,
          0.13383442032931317,
          -0.6047509287427926,
          0.0737386368445665,
          1.0149743137138956,
          -0.4726368900803443
        ],
        "act_eef_pose_l": [
          467.41188750798244,
          350.71829076978366,
          90.00043144788769,
          1.709528849298211,
          -0.09134224035582057,
          0.8308849463151889
        ],
        "act_eef_pose_r": [
          569.4382644042034,
          -232.1475481268787,
          2.2473433469199335,
          1.6172214587357967,
          0.04905100870037571,
          2.5775913876411396
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 112,
      "colors": {
        "rgb_main": "colors/000112_rgb_main.jpg",
        "rgb_wrist_0": "colors/000112_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000112_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000112_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39367177114701574,
          -0.32498622920211667,
          -0.11825424596751694,
          -1.475121490607182,
          -0.10666021172384767,
          -0.4931613742783459,
          0.4032543232873251
        ],
        "joint_pos_r": [
          -0.45786042931725446,
          -1.0137612330258767,
          0.13175879751050748,
          -0.5501948190470851,
          0.08752579802100958,
          1.0216470667304411,
          -0.48725374397803395
        ],
        "eef_pose_l": [
          466.29358326602977,
          351.3531150913176,
          90.73032332164243,
          1.7084279986955226,
          -0.09438246159809849,
          0.8343118818528704
        ],
        "eef_pose_r": [
          577.3404530984484,
          -233.44832512560606,
          -0.8590254455223203,
          1.6156978205944055,
          0.0562463914511498,
          2.554094843461849
        ],
        "joint_status_l": {
          "velocity": [
            -0.17610520194200063,
            -0.556293243794137,
            0.16683897511671208,
            0.7763095151691601,
            0.548277298231592,
            -0.5610929847743584,
            -0.7592147078621103
          ],
          "torque": [
            -26.49169921875,
            4.3212890625,
            -10.504150390625,
            -0.616455078125,
            -0.955810546875,
            -2.5360107421875,
            -0.49346923828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.06511283886778685,
            2.9487956075708865,
            0.22416065316588352,
            -5.891886075245267,
            -1.4889694922481933,
            -0.7206360717617599,
            1.5785736634095215
          ],
          "torque": [
            29.87548828125,
            8.056640625,
            13.818359375,
            -6.097412109375,
            2.3602294921875,
            1.234130859375,
            0.73974609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.2,
            -8.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.2,
            -8.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -17.5,
            -0.7,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -17.5,
            -0.7,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -209,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 0,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3937260172389576,
          -0.3300422871279612,
          -0.11669081541163616,
          -1.4665007705305118,
          -0.10523483858345083,
          -0.49920785205899176,
          0.39882442641843896
        ],
        "act_joint_pos_r": [
          -0.4577563371396582,
          -0.994820735729439,
          0.13329082115952018,
          -0.5932069817395477,
          0.07562991408502917,
          1.0230853746465032,
          -0.4715357876961153
        ],
        "act_eef_pose_l": [
          467.4318875079824,
          351.22629076978365,
          89.5036314478878,
          1.7091942756774519,
          -0.08987076466838965,
          0.8321756142156527
        ],
        "act_eef_pose_r": [
          570.1742644042034,
          -230.12754812687868,
          2.2697433469197676,
          1.6137303430475174,
          0.046466926959065326,
          2.5811224072020376
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 113,
      "colors": {
        "rgb_main": "colors/000113_rgb_main.jpg",
        "rgb_wrist_0": "colors/000113_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000113_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000113_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39343314535523305,
          -0.3258941717436355,
          -0.11798055543406759,
          -1.4738083025175026,
          -0.1058702716081176,
          -0.49410507135559156,
          0.40208804044072716
        ],
        "joint_pos_r": [
          -0.4579535530784287,
          -1.0088463272060255,
          0.13213513660123333,
          -0.5601675189706831,
          0.08497528656901514,
          1.0206248618599463,
          -0.4844581454174758
        ],
        "eef_pose_l": [
          466.4923807166636,
          351.25632592714334,
          90.58691528709599,
          1.708609257060702,
          -0.0938019084858033,
          0.8337444090670231
        ],
        "eef_pose_r": [
          575.8978712935252,
          -233.14406776081702,
          -0.28151158463248294,
          1.6158735331173129,
          0.054771684793734635,
          2.5586424120213844
        ],
        "joint_status_l": {
          "velocity": [
            0.031629230587970625,
            -0.4479832489470148,
            0.13928781434813242,
            0.789190178675625,
            0.0686247426855413,
            -0.5510840626117286,
            -0.3524599191577771
          ],
          "torque": [
            -27.03369140625,
            5.0830078125,
            -10.272216796875,
            -0.506591796875,
            -0.9283447265625,
            -2.7081298828125,
            -0.57220458984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.021298693215765496,
            1.5147192052173963,
            0.12481025121335865,
            -3.5681567418794913,
            -1.0092704614294012,
            0.26572754373255236,
            1.3955734736672554
          ],
          "torque": [
            31.787109375,
            9.0380859375,
            14.288330078125,
            -6.4208984375,
            2.4298095703125,
            1.025390625,
            0.85968017578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.6,
            -8.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -16.6,
            -8.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.7,
            -17.4,
            -1.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -17.4,
            -1.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -261,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 83,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39383702396576753,
          -0.3299598557038429,
          -0.11670534481555427,
          -1.466211238675315,
          -0.10444254482447807,
          -0.4993535882790358,
          0.3974531050676125
        ],
        "act_joint_pos_r": [
          -0.45722772805974055,
          -0.998050511187533,
          0.1331094820119657,
          -0.5900026132437686,
          0.07608818675250184,
          1.0256282960475298,
          -0.4707220979186296
        ],
        "act_eef_pose_l": [
          467.41908750798245,
          351.3430907697837,
          89.37883144788775,
          1.7096576011167801,
          -0.08916988631541167,
          0.8323314902307916
        ],
        "act_eef_pose_r": [
          570.3974644042034,
          -228.98034812687868,
          2.4713433469198662,
          1.6122020999574924,
          0.04533959165384324,
          2.5831744236507754
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 114,
      "colors": {
        "rgb_main": "colors/000114_rgb_main.jpg",
        "rgb_wrist_0": "colors/000114_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000114_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000114_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3934989168247164,
          -0.32661720526715493,
          -0.11775434957570023,
          -1.4724797821264726,
          -0.10565807548768687,
          -0.49502565181158076,
          0.40133818977372765
        ],
        "joint_pos_r": [
          -0.4578904143377443,
          -1.0067282669364075,
          0.1323145881739499,
          -0.5654128473991792,
          0.08346558104279775,
          1.0211771273034644,
          -0.48228648673567004
        ],
        "eef_pose_l": [
          466.65740526460564,
          351.2660824887728,
          90.37979883481864,
          1.7087700991189285,
          -0.09301836479119989,
          0.8334866325336259
        ],
        "eef_pose_r": [
          574.982732103998,
          -232.57686698908992,
          0.14725175465832763,
          1.6154252778966123,
          0.05332451726883085,
          2.5624529115828314
        ],
        "joint_status_l": {
          "velocity": [
            0.03651449429575848,
            -0.36099560016600307,
            0.11328917281017148,
            0.6769827261887684,
            0.13127343992347384,
            -0.46740335315975656,
            -0.41957677350534794
          ],
          "torque": [
            -23.90625,
            4.4677734375,
            -10.675048828125,
            0.286865234375,
            -0.8807373046875,
            -2.735595703125,
            -0.589599609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.07156800723917556,
            0.9371699805278411,
            0.08584600261318798,
            -2.6556163879964956,
            -0.7967350849067412,
            0.48071204651467525,
            1.2489171573983882
          ],
          "torque": [
            35.3466796875,
            8.056640625,
            14.202880859375,
            -5.035400390625,
            2.406005859375,
            2.98095703125,
            0.77362060546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -16.6,
            -8.6,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.6,
            -8.6,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.7,
            -17.6,
            -0.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -17.6,
            -0.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -198,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 74,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39430600460714776,
          -0.32938997969819345,
          -0.11690189086135104,
          -1.4678281024283788,
          -0.10390316958997915,
          -0.49665652666938087,
          0.39650864645435085
        ],
        "act_joint_pos_r": [
          -0.4558610849591394,
          -1.0022150638702474,
          0.13292437986383435,
          -0.5889082992091776,
          0.07625952099285095,
          1.0283465273221637,
          -0.46938678853201304
        ],
        "act_eef_pose_l": [
          467.3446875079824,
          351.4078907697837,
          89.15963144788775,
          1.7106894069515688,
          -0.08867044265065159,
          0.8337732201701544
        ],
        "act_eef_pose_r": [
          570.4358644042035,
          -226.5363481268787,
          3.335343346919899,
          1.6092426532919613,
          0.0441171611655883,
          2.588197094129749
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 115,
      "colors": {
        "rgb_main": "colors/000115_rgb_main.jpg",
        "rgb_wrist_0": "colors/000115_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000115_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000115_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39361161810936934,
          -0.3271439075485561,
          -0.11759105552585825,
          -1.4715539024155668,
          -0.105382294823196,
          -0.49548652331723403,
          0.4005446987594118
        ],
        "joint_pos_r": [
          -0.4577132408604328,
          -1.0053768190908194,
          0.13244700483782493,
          -0.5697124768613056,
          0.08216871845473114,
          1.0220834802884906,
          -0.48018317636319446
        ],
        "eef_pose_l": [
          466.78400917379156,
          351.2871986657298,
          90.17820691730708,
          1.7090428077079973,
          -0.09228137405909101,
          0.8334445108380789
        ],
        "eef_pose_r": [
          574.1838876660645,
          -231.82792487349556,
          0.5949354872119272,
          1.6147189757682787,
          0.05184472986665338,
          2.5663309404550834
        ],
        "joint_status_l": {
          "velocity": [
            0.0749915300031212,
            -0.24256863798122197,
            0.07442758864251164,
            0.40237453121605427,
            0.15974081388403505,
            -0.12635663534199537,
            -0.43588079333023444
          ],
          "torque": [
            -20.0390625,
            3.6474609375,
            -10.760498046875,
            0.40283203125,
            -0.908203125,
            -2.8289794921875,
            -0.60791015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.20002693786080883,
            0.34145949301311873,
            0.05155498227604749,
            -2.0730876711168023,
            -0.6381745039321096,
            0.6763891306054148,
            1.165975497158911
          ],
          "torque": [
            36.76025390625,
            7.08251953125,
            13.8671875,
            -6.396484375,
            2.1844482421875,
            3.2537841796875,
            0.65460205078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.7,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.7,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -17.6,
            -0.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -17.6,
            -0.3,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -196,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 83,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39561807030853297,
          -0.32963010608406196,
          -0.11679911507627251,
          -1.4664580454859204,
          -0.1077358159579832,
          -0.49760955196326373,
          0.4003466639297112
        ],
        "act_joint_pos_r": [
          -0.4548835105870777,
          -1.0072418378138794,
          0.1326062289456425,
          -0.5823229755009371,
          0.07613718859200835,
          1.0355649433082628,
          -0.46870268379712127
        ],
        "act_eef_pose_l": [
          467.4238875079824,
          351.71749076978364,
          88.81243144788782,
          1.70996089015586,
          -0.08837044483299272,
          0.8345031735703538
        ],
        "act_eef_pose_r": [
          570.4790644042035,
          -224.92594812687867,
          3.712143346919902,
          1.6067303443637466,
          0.04356687542922135,
          2.5932431554882713
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 116,
      "colors": {
        "rgb_main": "colors/000116_rgb_main.jpg",
        "rgb_wrist_0": "colors/000116_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000116_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000116_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39387382920932423,
          -0.3275402478743184,
          -0.11746616255930292,
          -1.4707867971801367,
          -0.10557162016996408,
          -0.495786408476653,
          0.40031428331118757
        ],
        "joint_pos_r": [
          -0.4572754518738923,
          -1.0053850295509617,
          0.13249550770785873,
          -0.5723633531117152,
          0.0811101183314421,
          1.0240053860971237,
          -0.47819708791984167
        ],
        "eef_pose_l": [
          466.885423097119,
          351.3420449368503,
          89.97165342954173,
          1.7092312994443342,
          -0.09165318758915593,
          0.8335802296265352
        ],
        "eef_pose_r": [
          573.5362756137122,
          -230.70190075049774,
          1.1218334592446695,
          1.613458449780539,
          0.050399338311020093,
          2.5707554190043926
        ],
        "joint_status_l": {
          "velocity": [
            0.18837248296499354,
            -0.2256980300443523,
            0.0720390034905094,
            0.46749139505486426,
            -0.2337262517186911,
            -0.1968936894845008,
            0.003497003661756537
          ],
          "torque": [
            -18.37646484375,
            3.49365234375,
            -10.760498046875,
            0.335693359375,
            -2.724609375,
            -2.9058837890625,
            0.00732421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.258322040175063,
            -0.20052937809733606,
            0.011957541011797801,
            -1.0756074946884908,
            -0.5370605721038979,
            1.248395359350063,
            1.0253654037177817
          ],
          "torque": [
            40.01220703125,
            2.3291015625,
            10.552978515625,
            -5.82275390625,
            2.1917724609375,
            3.5906982421875,
            0.50628662109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.5,
            -8.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.5,
            -8.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -17.4,
            -0.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -17.4,
            -0.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -267,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 59,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39866947255392915,
          -0.32949312212322857,
          -0.116974417389591,
          -1.4708755732560734,
          -0.11445204801714987,
          -0.4933708402739608,
          0.4074326961242474
        ],
        "act_joint_pos_r": [
          -0.45437126790133625,
          -1.0179740019516306,
          0.13175760526753683,
          -0.558063454040537,
          0.07434649890830512,
          1.0532392965306163,
          -0.4685435783341896
        ],
        "act_eef_pose_l": [
          466.9678875079824,
          350.8470907697837,
          88.10523144788776,
          1.7094403505005038,
          -0.08750352972536718,
          0.8352709415300795
        ],
        "act_eef_pose_r": [
          571.2606644042035,
          -224.57154812687867,
          2.4905433469198215,
          1.6064848524516104,
          0.04402813048667382,
          2.5976001264487256
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 117,
      "colors": {
        "rgb_main": "colors/000117_rgb_main.jpg",
        "rgb_wrist_0": "colors/000117_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000117_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000117_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3942479706286241,
          -0.3277681132664912,
          -0.11740107781780895,
          -1.4705550302074872,
          -0.10620611293538718,
          -0.4957458265090852,
          0.40072970504054095
        ],
        "joint_pos_r": [
          -0.4568683725365994,
          -1.0065886250523595,
          0.13243942987458193,
          -0.5717916250260013,
          0.08020145711083271,
          1.0272780470835456,
          -0.4767422191157661
        ],
        "eef_pose_l": [
          466.92000054758654,
          351.33370523919405,
          89.80009054708606,
          1.70928182884582,
          -0.09123234267236209,
          0.8337280077737906
        ],
        "eef_pose_r": [
          573.1474775380211,
          -229.78838535184303,
          1.410610420618525,
          1.6124045179661244,
          0.049395395065511244,
          2.57453322489532
        ],
        "joint_status_l": {
          "velocity": [
            0.477508124583359,
            -0.18629546203641212,
            0.04607796725064617,
            -0.03461762825374137,
            -0.8905347239125394,
            0.2564909485971434,
            0.7239016867011117
          ],
          "torque": [
            -17.42431640625,
            3.39111328125,
            -14.697265625,
            -0.982666015625,
            -3.336181640625,
            -1.7523193359375,
            0.0146484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.26967934684130057,
            -1.2295844404661693,
            -0.07363488581602073,
            1.4825987395177265,
            -0.6323168366848542,
            2.8037322486209604,
            0.8854270901341721
          ],
          "torque": [
            40.84716796875,
            -0.0146484375,
            8.306884765625,
            -2.130126953125,
            2.252197265625,
            3.2135009765625,
            0.52093505859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.6,
            -7.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.6,
            -7.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.2,
            -0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.2,
            -0.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -278,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 72,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.40046713982771015,
          -0.32756681386385483,
          -0.11759652011647877,
          -1.4750775644920215,
          -0.11769533104883546,
          -0.4908319327790739,
          0.4103555036456545
        ],
        "act_joint_pos_r": [
          -0.45464490212012093,
          -1.0253054757241817,
          0.13118676420009787,
          -0.5410994396335579,
          0.07277354991043918,
          1.0609449167035514,
          -0.4678201150641798
        ],
        "act_eef_pose_l": [
          466.2454875079824,
          350.62389076978366,
          88.0244314478878,
          1.7091488304980524,
          -0.08680223365560136,
          0.8359794242488422
        ],
        "act_eef_pose_r": [
          572.3358644042034,
          -224.8667481268787,
          0.8545433469198542,
          1.608887196753758,
          0.043527420169301285,
          2.596470194471393
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 118,
      "colors": {
        "rgb_main": "colors/000118_rgb_main.jpg",
        "rgb_wrist_0": "colors/000118_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000118_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000118_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3952134133913866,
          -0.32795531370839603,
          -0.11736527787108764,
          -1.470918595644569,
          -0.1079987467949791,
          -0.4951138063786189,
          0.40220755842892747
        ],
        "joint_pos_r": [
          -0.4564007283728092,
          -1.0098019681365955,
          0.1322303874214395,
          -0.5668932740141963,
          0.07882589242509662,
          1.0334695168332657,
          -0.47500243079678633
        ],
        "eef_pose_l": [
          466.87764004520284,
          351.2251131709885,
          89.47486403108786,
          1.7092844389642383,
          -0.09047829851181416,
          0.8340685352364443
        ],
        "eef_pose_r": [
          572.9163988152981,
          -228.77363096968173,
          1.4211276745126042,
          1.611497084985274,
          0.04826052821930231,
          2.579017503745855
        ],
        "joint_status_l": {
          "velocity": [
            0.5673857209753663,
            0.04195674576212838,
            -0.024973425950425288,
            -0.4491553883934074,
            -1.0472002138971481,
            0.46242871014534614,
            0.8799521306053215
          ],
          "torque": [
            -17.27783203125,
            7.19970703125,
            -14.208984375,
            -3.240966796875,
            -3.577880859375,
            -1.3055419921875,
            0.53466796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.18962364264041298,
            -1.674329437751254,
            -0.11270798376072921,
            2.7856519546967107,
            -0.6536337136870962,
            2.9672556714626097,
            0.7756672220398109
          ],
          "torque": [
            41.015625,
            0.44677734375,
            8.575439453125,
            -1.177978515625,
            2.39501953125,
            3.3123779296875,
            0.49530029296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.6,
            -8.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.6,
            -8.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -17.1,
            -0.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -17.1,
            -0.6,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -209,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 95,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4021633608221618,
          -0.32611815635543645,
          -0.11797282385324773,
          -1.4752260826603696,
          -0.12143888483037722,
          -0.4912846183708491,
          0.41324324689806147
        ],
        "act_joint_pos_r": [
          -0.45609458088558646,
          -1.0361864339717954,
          0.13048100069931037,
          -0.522523332410971,
          0.07309071345642382,
          1.0600723501925196,
          -0.4681101937275945
        ],
        "act_eef_pose_l": [
          465.9262875079824,
          351.25749076978366,
          87.83323144788783,
          1.708592669150854,
          -0.08584660864236804,
          0.8374548753701556
        ],
        "act_eef_pose_r": [
          574.7894644042035,
          -224.42194812687868,
          -2.0566566530801538,
          1.6133666186908082,
          0.041803421355118525,
          2.588709760502163
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 119,
      "colors": {
        "rgb_main": "colors/000119_rgb_main.jpg",
        "rgb_wrist_0": "colors/000119_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000119_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000119_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3963921547001428,
          -0.3277727418305885,
          -0.11743890916539712,
          -1.4717656065378137,
          -0.11021849240687588,
          -0.49428542913725076,
          0.4040541919309078
        ],
        "joint_pos_r": [
          -0.45623239795145515,
          -1.0139605439752133,
          0.13195346359001334,
          -0.5599211025198503,
          0.07771756490462203,
          1.03856492330218,
          -0.4736774401051534
        ],
        "eef_pose_l": [
          466.7280894722847,
          351.1491475444946,
          89.17038107451646,
          1.7092082107941262,
          -0.08967206337243469,
          0.8345563957454347
        ],
        "eef_pose_r": [
          573.1003866051126,
          -227.98997514882976,
          0.9814303503630413,
          1.6114938259823113,
          0.04718148253037483,
          2.581433650669079
        ],
        "joint_status_l": {
          "velocity": [
            0.6232718787564373,
            0.17868996113801217,
            -0.05766108566496175,
            -0.373720398940236,
            -1.211766642591483,
            0.32407800460187985,
            0.9923886675133886
          ],
          "torque": [
            -18.20068359375,
            8.98681640625,
            -16.583251953125,
            -3.424072265625,
            -3.8232421875,
            -0.897216796875,
            0.65093994140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.01488380413983137,
            -2.4003253258184643,
            -0.15902130211331578,
            4.038840052539072,
            -0.4996852189776968,
            2.3227335987900943,
            0.6012448760066569
          ],
          "torque": [
            39.8583984375,
            0.47607421875,
            8.3251953125,
            -0.933837890625,
            2.2979736328125,
            3.4515380859375,
            0.63446044921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -17.1,
            -7.6,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -17.1,
            -7.6,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.9,
            -16.7,
            -0.9,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.7,
            -0.9,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -301,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 38,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.4037199235631783,
          -0.32476762633505657,
          -0.11836644592350423,
          -1.4766026027011931,
          -0.1263161720200971,
          -0.48946549078405466,
          0.4180657299972375
        ],
        "act_joint_pos_r": [
          -0.4555776165717069,
          -1.0518182535505611,
          0.12944999361216164,
          -0.49247197535097254,
          0.07236621425365275,
          1.06526286510413,
          -0.4671680667347777
        ],
        "act_eef_pose_l": [
          465.7310875079824,
          351.7390907697837,
          87.74603144788789,
          1.7078696088296297,
          -0.08597573857124022,
          0.839860029050477
        ],
        "act_eef_pose_r": [
          578.1910644042034,
          -224.1939481268787,
          -4.707056653080144,
          1.618062963949012,
          0.04091537305508179,
          2.580672318161068
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 120,
      "colors": {
        "rgb_main": "colors/000120_rgb_main.jpg",
        "rgb_wrist_0": "colors/000120_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000120_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000120_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39752478335629954,
          -0.3273828216325799,
          -0.11756169061035147,
          -1.4724766973102956,
          -0.11255401305153637,
          -0.4936236982861526,
          0.40602660356510706
        ],
        "joint_pos_r": [
          -0.456222461100027,
          -1.0155630695068416,
          0.13184729644093227,
          -0.5572246579034738,
          0.07738396082496846,
          1.0401156463875862,
          -0.473276031906774
        ],
        "eef_pose_l": [
          466.572560445027,
          351.202098200636,
          88.92867484195952,
          1.7090370120743,
          -0.08900605450787288,
          0.835238791491538
        ],
        "eef_pose_r": [
          573.228712575851,
          -227.7354992213116,
          0.7604265691144576,
          1.6116242320209775,
          0.04679699075489744,
          2.581956246206208
        ],
        "joint_status_l": {
          "velocity": [
            0.6690554096082657,
            0.2824327622232836,
            -0.08691101051716554,
            -0.4455846403992325,
            -1.486269333433654,
            0.449073165521785,
            1.3001873076952108
          ],
          "torque": [
            -17.021484375,
            9.20654296875,
            -16.943359375,
            -3.851318359375,
            -4.06494140625,
            -0.673828125,
            0.732421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.013810655836277164,
            -2.227257672760885,
            -0.14755558817569625,
            3.747632622674857,
            -0.46365704096940075,
            2.1552604449235346,
            0.5578940691455259
          ],
          "torque": [
            40.5615234375,
            1.39892578125,
            8.04443359375,
            -1.080322265625,
            2.55615234375,
            3.1512451171875,
            0.6097412109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.7,
            -8.4,
            1.5,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.7,
            -8.4,
            1.5,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -18.0,
            -0.7,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -18.0,
            -0.7,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -265,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 162,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.40380212662389253,
          -0.3226892630929271,
          -0.11906832243430172,
          -1.4814786536213356,
          -0.12314223417413114,
          -0.4866894845148275,
          0.4149988629876751
        ],
        "act_joint_pos_r": [
          -0.45461353357351747,
          -1.0674342545783555,
          0.12845423142236395,
          -0.46195332187486976,
          0.07454432131945987,
          1.0737098969412588,
          -0.4684958888718336
        ],
        "act_eef_pose_l": [
          464.9454875079824,
          351.27269076978365,
          87.95723144788785,
          1.7090840228720405,
          -0.0859055999899443,
          0.8392478651005065
        ],
        "act_eef_pose_r": [
          581.3342644042035,
          -223.86434812687867,
          -6.344656653080165,
          1.619050679136224,
          0.04131753433117305,
          2.573998517158436
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 121,
      "colors": {
        "rgb_main": "colors/000121_rgb_main.jpg",
        "rgb_wrist_0": "colors/000121_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000121_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000121_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.398552511539588,
          -0.3267183673459952,
          -0.11777319035780617,
          -1.4737052042670977,
          -0.11445829169603514,
          -0.492626855980413,
          0.407659705871771
        ],
        "joint_pos_r": [
          -0.4560295089294605,
          -1.0237910345135706,
          0.1313058613393013,
          -0.5423655043424689,
          0.0765407451917634,
          1.0457188675911786,
          -0.47215490539100347
        ],
        "eef_pose_l": [
          466.34616045000877,
          351.2374446043031,
          88.75888802071972,
          1.7089708953704523,
          -0.08850153649879364,
          0.8359283875056508
        ],
        "eef_pose_r": [
          574.472207882123,
          -227.02751949020802,
          -0.4472200038460983,
          1.6129019250624368,
          0.0456471169935662,
          2.5813008132166573
        ],
        "joint_status_l": {
          "velocity": [
            0.5669417080529371,
            0.4351304258456423,
            -0.13987013901217704,
            -0.839507770299619,
            -0.9378381275773062,
            0.6412172065930477,
            0.7926055918652253
          ],
          "torque": [
            -16.86767578125,
            10.10009765625,
            -17.840576171875,
            -5.13916015625,
            -4.0521240234375,
            -0.6536865234375,
            0.57769775390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.15292082828333164,
            -4.713328754795576,
            -0.30796694802970315,
            8.68425957795571,
            -0.21560741920789717,
            3.0229420129002094,
            0.39516212938650597
          ],
          "torque": [
            43.29345703125,
            0.0,
            7.928466796875,
            -0.213623046875,
            2.5982666015625,
            3.02490234375,
            0.71868896484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.6,
            -8.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.6,
            -8.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.1,
            -17.0,
            0.1,
            1.1,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            1.1,
            -17.0,
            0.1,
            1.1,
            0.5,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -249,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 108,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.40330384753125303,
          -0.32110103742726337,
          -0.11933262551833984,
          -1.4766100105991902,
          -0.11521449903925748,
          -0.49257410328950224,
          0.4067088169448249
        ],
        "act_joint_pos_r": [
          -0.4564470282584052,
          -1.0805892390762633,
          0.12768472516252943,
          -0.436756820734626,
          0.07794863663404783,
          1.0786246402240327,
          -0.47091338516796605
        ],
        "act_eef_pose_l": [
          464.7622875079824,
          352.8798907697837,
          87.71483144788776,
          1.7115999121419183,
          -0.08548793223141678,
          0.8386663406470407
        ],
        "act_eef_pose_r": [
          583.6694644042035,
          -223.67234812687866,
          -9.090256653080132,
          1.6207376040300752,
          0.04013059747009425,
          2.566322551338223
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 122,
      "colors": {
        "rgb_main": "colors/000122_rgb_main.jpg",
        "rgb_wrist_0": "colors/000122_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000122_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000122_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39943789249228245,
          -0.325869581716641,
          -0.11802488049436419,
          -1.474661467878496,
          -0.11531280539389187,
          -0.4920824843253309,
          0.4082453328286252
        ],
        "joint_pos_r": [
          -0.45589403525686883,
          -1.0329897187398214,
          0.13071131480238912,
          -0.5253479084584368,
          0.07640880414113856,
          1.0513645716037854,
          -0.4716375213060201
        ],
        "eef_pose_l": [
          466.08334080567323,
          351.3820239201214,
          88.59610710685521,
          1.7092015756649315,
          -0.08800649158980065,
          0.8364652986034465
        ],
        "eef_pose_r": [
          576.0189194490096,
          -226.44698210329588,
          -1.7907040901092728,
          1.6141506910811398,
          0.044710272454356846,
          2.5793506746972454
        ],
        "joint_status_l": {
          "velocity": [
            0.41751083038477077,
            0.5149875945056337,
            -0.14123229716545005,
            -0.2104364073449716,
            0.010616773175597949,
            -0.0530932822275787,
            -0.1659388213464119
          ],
          "torque": [
            -17.0361328125,
            11.93115234375,
            -17.974853515625,
            -4.94384765625,
            -2.969970703125,
            -1.6461181640625,
            -0.2398681640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.05972148277466616,
            -5.140596582543289,
            -0.32686204082432724,
            9.567555294212049,
            0.1662970045661627,
            2.944000582330908,
            0.07820439639472099
          ],
          "torque": [
            37.236328125,
            1.99951171875,
            7.366943359375,
            -1.776123046875,
            4.149169921875,
            3.3416748046875,
            0.640869140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.3,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.3,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.4,
            -16.6,
            -2.0,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -16.6,
            -2.0,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -213,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 167,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.40264327736019995,
          -0.31987997275417157,
          -0.1197498299357047,
          -1.4793183539891575,
          -0.11271692171918211,
          -0.49005277963229876,
          0.40459264288358143
        ],
        "act_joint_pos_r": [
          -0.4572011213801148,
          -1.0877914896104752,
          0.12728659205540874,
          -0.42250985303713295,
          0.07802810666230808,
          1.083359703537435,
          -0.4702117506199966
        ],
        "act_eef_pose_l": [
          464.5126875079824,
          352.7910907697837,
          88.04683144788764,
          1.7123767569042045,
          -0.08629802846644133,
          0.8391738191743513
        ],
        "act_eef_pose_r": [
          584.5974644042035,
          -223.4371481268787,
          -10.591056653080159,
          1.6222700686715965,
          0.03846814050913092,
          2.5641762193869244
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 123,
      "colors": {
        "rgb_main": "colors/000123_rgb_main.jpg",
        "rgb_wrist_0": "colors/000123_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000123_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000123_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.4000830402534306,
          -0.3249555071912961,
          -0.11828034446788484,
          -1.475163367865596,
          -0.11515029032227397,
          -0.49202289311502034,
          0.4078506934827006
        ],
        "joint_pos_r": [
          -0.4560249189102863,
          -1.0417219421245567,
          0.1301587075452041,
          -0.5090587201149361,
          0.07668454874859625,
          1.0563922825511387,
          -0.4714786813971727
        ],
        "eef_pose_l": [
          465.8356180875574,
          351.64223899573244,
          88.45877592086057,
          1.709670109665535,
          -0.08760649398100212,
          0.8368837033699467
        ],
        "eef_pose_r": [
          577.4929947939933,
          -225.9750813028693,
          -3.176554036918219,
          1.6153499460520087,
          0.043784325348017426,
          2.57693819475979
        ],
        "joint_status_l": {
          "velocity": [
            0.2764974526741071,
            0.5481415526387146,
            -0.15869974992555047,
            -0.44872526689943015,
            0.2627960583785338,
            0.212765980937224,
            -0.3518590871762761
          ],
          "torque": [
            -16.5234375,
            11.88720703125,
            -18.24951171875,
            -5.731201171875,
            -2.1038818359375,
            -0.8697509765625,
            -0.41107177734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.12702612030635052,
            -4.975364387949988,
            -0.31017932464783016,
            9.347001969315816,
            0.14509997518585838,
            2.9123955700036674,
            0.13682448851248807
          ],
          "torque": [
            39.55810546875,
            1.51611328125,
            6.646728515625,
            -0.64697265625,
            4.478759765625,
            3.251953125,
            0.6134033203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.8,
            -7.8,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.8,
            -7.8,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -16.9,
            0.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.9,
            0.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -282,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 87,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.40126882574330186,
          -0.31845113654219004,
          -0.12015140797542016,
          -1.4797455062669604,
          -0.10415721055027591,
          -0.49054296518348556,
          0.39620021690923585
        ],
        "act_joint_pos_r": [
          -0.45671916734555446,
          -1.1068269712756869,
          0.12628891161153077,
          -0.38887967369769016,
          0.07545627909706987,
          1.094750456693603,
          -0.4670567630981449
        ],
        "act_eef_pose_l": [
          464.1878875079824,
          353.1294907697837,
          88.20523144788767,
          1.7149520132363774,
          -0.08659933533119733,
          0.838336008253324
        ],
        "act_eef_pose_r": [
          586.9734644042035,
          -221.44994812687867,
          -13.216656653080236,
          1.6261333065450534,
          0.035694341930192885,
          2.562181200516352
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 124,
      "colors": {
        "rgb_main": "colors/000124_rgb_main.jpg",
        "rgb_wrist_0": "colors/000124_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000124_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000124_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.4003625009455738,
          -0.3238780456406304,
          -0.11859076940646991,
          -1.4759518348064644,
          -0.11364134080045485,
          -0.4917363345131958,
          0.40621701481828265
        ],
        "joint_pos_r": [
          -0.45617688807487156,
          -1.0509304395622523,
          0.1296008585118874,
          -0.49194213317975694,
          0.07668453978531763,
          1.061803905407562,
          -0.4709994350740887
        ],
        "eef_pose_l": [
          465.5608271370426,
          351.8881436130344,
          88.40532416410204,
          1.710473259072561,
          -0.0874108795294344,
          0.8371792895876807
        ],
        "eef_pose_r": [
          578.9653195107566,
          -225.42362371996305,
          -4.657206253126276,
          1.6167764095888637,
          0.042629719387560876,
          2.574651047434846
        ],
        "joint_status_l": {
          "velocity": [
            0.09788019133250003,
            0.5860888968638456,
            -0.16854399450716429,
            -0.40970443414600766,
            1.0242558582076455,
            0.12888008649403204,
            -1.0817822687143597
          ],
          "torque": [
            -15.966796875,
            12.36328125,
            -18.341064453125,
            -4.8828125,
            -1.292724609375,
            -0.8111572265625,
            -0.55755615234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.05856443396812239,
            -6.036647383653282,
            -0.35767971603917204,
            11.130417349951127,
            -0.13264824208003567,
            3.558122597675961,
            0.4257960152198592
          ],
          "torque": [
            33.515625,
            -0.9814453125,
            7.0068359375,
            -0.1220703125,
            2.896728515625,
            2.6568603515625,
            0.75714111328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.5,
            -7.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.5,
            -7.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.7,
            -16.8,
            0.2,
            1.0,
            0.4,
            -0.1
          ],
          "actual_contact_FT": [
            0.7,
            -16.8,
            0.2,
            1.0,
            0.4,
            -0.1
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 101,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3999368155916787,
          -0.31743985796333135,
          -0.12052233265333132,
          -1.4825262279526363,
          -0.09734340532960206,
          -0.48872788377078297,
          0.38946715801979565
        ],
        "act_joint_pos_r": [
          -0.4559943179289805,
          -1.1196250931117628,
          0.12572248873342343,
          -0.36950603526277315,
          0.07332139867745857,
          1.1016127669743785,
          -0.4644116455026542
        ],
        "act_eef_pose_l": [
          463.8254875079824,
          352.75269076978367,
          88.48203144788776,
          1.7168897636383516,
          -0.08677766495441369,
          0.837343513774427
        ],
        "act_eef_pose_r": [
          588.2806644042034,
          -219.06834812687867,
          -14.51425665308011,
          1.6278688400531895,
          0.033465884828736976,
          2.5631508591410386
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 125,
      "colors": {
        "rgb_main": "colors/000125_rgb_main.jpg",
        "rgb_wrist_0": "colors/000125_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000125_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000125_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.4003941643763834,
          -0.3232938549854909,
          -0.11876228476662556,
          -1.4764512657939928,
          -0.11239882724479673,
          -0.4915379413119506,
          0.40492506468168704
        ],
        "joint_pos_r": [
          -0.4562006703146303,
          -1.0620863840745929,
          0.12895893908996517,
          -0.4717928210225423,
          0.07625502665573963,
          1.068311693739967,
          -0.4700392403646471
        ],
        "eef_pose_l": [
          465.4081757386177,
          351.99476805909813,
          88.3972626678192,
          1.7110046176177673,
          -0.0873360734772435,
          0.837246399763588
        ],
        "eef_pose_r": [
          580.6364701921876,
          -224.53245525260613,
          -6.346248719921334,
          1.6185471687075348,
          0.041144492115825416,
          2.5725202853707807
        ],
        "joint_status_l": {
          "velocity": [
            -0.04939221200261912,
            0.632213032266904,
            -0.1900795656670784,
            -0.6560765631906662,
            1.6259376123746172,
            0.3034772638628169,
            -1.669404683025455
          ],
          "torque": [
            -16.51611328125,
            11.7626953125,
            -18.670654296875,
            -4.949951171875,
            -1.094970703125,
            -0.7562255859375,
            -0.6536865234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.022285400377519693,
            -6.213997303960106,
            -0.3495263297784712,
            11.04664705861591,
            -0.31682247747488734,
            3.5964098388783228,
            0.607762320103955
          ],
          "torque": [
            35.2294921875,
            -0.19775390625,
            6.024169921875,
            0.30517578125,
            2.3968505859375,
            3.3380126953125,
            0.8001708984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.6,
            -8.5,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.6,
            -8.5,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -16.9,
            0.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -16.9,
            0.0,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -267,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 61,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.397377102400708,
          -0.3160341292438371,
          -0.12108055596620307,
          -1.4876833719142508,
          -0.08617174243962476,
          -0.4844742203548451,
          0.3784027848708649
        ],
        "act_joint_pos_r": [
          -0.45472087166224995,
          -1.1303649874853736,
          0.12529746785179233,
          -0.3542004841274422,
          0.07304636339225334,
          1.1102174042035635,
          -0.4625849882903005
        ],
        "act_eef_pose_l": [
          463.3590875079824,
          351.9910907697837,
          89.0476314478879,
          1.7199785384971695,
          -0.0873044574024941,
          0.8361838316970758
        ],
        "act_eef_pose_r": [
          589.0502644042034,
          -216.48594812687867,
          -14.599856653079996,
          1.6261482015514876,
          0.03163791305892841,
          2.566720790256285
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 126,
      "colors": {
        "rgb_main": "colors/000126_rgb_main.jpg",
        "rgb_wrist_0": "colors/000126_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000126_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000126_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.40012314870117793,
          -0.3220858769889317,
          -0.11913524795507269,
          -1.4779714979929865,
          -0.10874729783342016,
          -0.49070003967237763,
          0.4012051865073573
        ],
        "joint_pos_r": [
          -0.45601796279031065,
          -1.0741752535672306,
          0.12829916941178254,
          -0.4507297042133188,
          0.07566942643357559,
          1.0755778029123915,
          -0.46876929111271737
        ],
        "eef_pose_l": [
          465.07413811534616,
          352.08078548035564,
          88.4526673865133,
          1.7123475957334173,
          -0.0872592224054291,
          0.83716197696454
        ],
        "eef_pose_r": [
          582.2943769442556,
          -223.2604889945823,
          -7.949716293575506,
          1.6200591729965157,
          0.03945785626105133,
          2.5711284028633474
        ],
        "joint_status_l": {
          "velocity": [
            -0.2965642537557933,
            0.6535694804692405,
            -0.2100870690151524,
            -1.0488514492763557,
            2.4380880749659273,
            0.6723686558403053,
            -2.462586746627693
          ],
          "torque": [
            -24.55078125,
            11.87255859375,
            -18.682861328125,
            -5.0048828125,
            -0.845947265625,
            -0.56396484375,
            -0.82672119140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.14008171034163297,
            -6.068312287855093,
            -0.3241742074717724,
            10.424848304809053,
            -0.2832824534934053,
            3.740966605533913,
            0.6678850066057507
          ],
          "torque": [
            39.67529296875,
            -0.0732421875,
            5.792236328125,
            -0.970458984375,
            2.3309326171875,
            3.88916015625,
            0.8697509765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.8,
            -8.6,
            1.5,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.8,
            -8.6,
            1.5,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.1,
            -1.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.1,
            -1.0,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -248,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 53,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39738665439350146,
          -0.315465033161485,
          -0.12110147246014036,
          -1.4834113742635475,
          -0.08506034671264759,
          -0.48873705609696866,
          0.3773861571033871
        ],
        "act_joint_pos_r": [
          -0.45356734677414545,
          -1.1384889340787796,
          0.1250060397032232,
          -0.34301974585190786,
          0.07379059598643069,
          1.118796380148731,
          -0.4615238223620256
        ],
        "act_eef_pose_l": [
          463.4878875079824,
          353.2222907697837,
          88.94443144788788,
          1.7203040277093864,
          -0.08759382711622939,
          0.8366007218234743
        ],
        "act_eef_pose_r": [
          589.3558644042035,
          -214.2091481268787,
          -14.162256653080021,
          1.6229286262313976,
          0.030202768036410258,
          2.5712395834111574
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 127,
      "colors": {
        "rgb_main": "colors/000127_rgb_main.jpg",
        "rgb_wrist_0": "colors/000127_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000127_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000127_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39960473284494874,
          -0.3209008394493506,
          -0.11950449141515967,
          -1.4794993837709058,
          -0.10439954720832907,
          -0.48983048688457,
          0.39682138646673565
        ],
        "joint_pos_r": [
          -0.4556273952855912,
          -1.0858209904360512,
          0.12769501024110314,
          -0.4310730865732583,
          0.0752673597271495,
          1.0832071092360347,
          -0.4674664986192026
        ],
        "eef_pose_l": [
          464.7577232834265,
          352.1493333286639,
          88.55662220458424,
          1.713820810376494,
          -0.08727894126862636,
          0.8369834856390521
        ],
        "eef_pose_r": [
          583.7196808533956,
          -221.74106481399437,
          -9.198255124931137,
          1.6207592932338466,
          0.03777365426288916,
          2.570841925691975
        ],
        "joint_status_l": {
          "velocity": [
            -0.23954540774262512,
            0.5870497649822504,
            -0.17246886616051338,
            -0.4224825127483456,
            2.0885720543936115,
            0.11808704226989875,
            -2.098942866231024
          ],
          "torque": [
            -26.82861328125,
            13.45458984375,
            -19.232177734375,
            -4.98046875,
            -0.4486083984375,
            -0.5291748046875,
            -0.63079833984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.22247867757840822,
            -5.687970155701549,
            -0.29040025319349017,
            9.509480330775588,
            -0.15948578021596216,
            3.8435278997743794,
            0.6417901071880117
          ],
          "torque": [
            43.17626953125,
            1.06201171875,
            5.914306640625,
            -0.421142578125,
            2.508544921875,
            3.489990234375,
            0.6683349609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.7,
            -7.5,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -16.7,
            -7.5,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.6,
            0.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.6,
            0.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 110,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3961780438551303,
          -0.31546059889173517,
          -0.1210664557409637,
          -1.4821668267604877,
          -0.07836006831812953,
          -0.49036581892096576,
          0.370196288768413
        ],
        "act_joint_pos_r": [
          -0.4527355688323582,
          -1.145933044619245,
          0.12470616000848594,
          -0.3301590442464374,
          0.07298279019639196,
          1.1293607079463424,
          -0.45986517651714237
        ],
        "act_eef_pose_l": [
          463.4710875079824,
          353.3734907697837,
          88.8940314478878,
          1.7222551242968893,
          -0.08695261976551985,
          0.8353935548871882
        ],
        "act_eef_pose_r": [
          589.3678644042035,
          -212.66034812687866,
          -14.15745665308009,
          1.6212410616389719,
          0.02882007184676285,
          2.5760601256423414
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 128,
      "colors": {
        "rgb_main": "colors/000128_rgb_main.jpg",
        "rgb_wrist_0": "colors/000128_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000128_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000128_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39907156962082124,
          -0.3198074655600158,
          -0.11982309413157041,
          -1.4801962887752327,
          -0.10002763985207888,
          -0.48972805199524,
          0.3923948689420664
        ],
        "joint_pos_r": [
          -0.4554504662506271,
          -1.0903444219914065,
          0.12746406569796734,
          -0.4235105498113271,
          0.07514052660547141,
          1.0862637243218753,
          -0.466956106767048
        ],
        "eef_pose_l": [
          464.5001829162005,
          352.3730488663894,
          88.63212877658324,
          1.715260481330018,
          -0.08729410866899787,
          0.8368002488062813
        ],
        "eef_pose_r": [
          584.2439671477907,
          -221.11196560449255,
          -9.642083597892224,
          1.620929581313715,
          0.03711389988270031,
          2.5708674714028352
        ],
        "joint_status_l": {
          "velocity": [
            -0.3124915662486849,
            0.46944775455282084,
            -0.13427909346430678,
            -0.21281182585752845,
            2.3400287102089967,
            -0.0688767965657533,
            -2.3973759519306803
          ],
          "torque": [
            -27.8759765625,
            12.60498046875,
            -18.939208984375,
            -5.65185546875,
            -0.6317138671875,
            -1.8145751953125,
            -0.8441162109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.20337090535615943,
            -5.199453955738065,
            -0.2654589781383443,
            8.692750448647146,
            -0.14578820706312445,
            3.513423206420896,
            0.5866694128529026
          ],
          "torque": [
            45.205078125,
            1.47216796875,
            5.743408203125,
            -0.13427734375,
            2.65869140625,
            3.431396484375,
            0.7232666015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.9,
            -7.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.9,
            -7.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.9,
            -17.6,
            -0.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -17.6,
            -0.6,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -301,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 55,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3952883525849948,
          -0.31509184216200453,
          -0.12125892767842035,
          -1.4847756081125307,
          -0.07580003403832158,
          -0.4881494610014353,
          0.36752140227961355
        ],
        "act_joint_pos_r": [
          -0.4523532094236136,
          -1.1489427185747223,
          0.12455643693695932,
          -0.32321212962770524,
          0.07271671294337344,
          1.1349157537791317,
          -0.45921378844620564
        ],
        "act_eef_pose_l": [
          463.3110875079824,
          352.8734907697837,
          89.21563144788779,
          1.7227304960597554,
          -0.08710265872825863,
          0.8350489946314312
        ],
        "act_eef_pose_r": [
          589.3966644042034,
          -212.48354812687867,
          -14.178256653080098,
          1.6206576527628005,
          0.02843484276524161,
          2.5775702105852942
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 129,
      "colors": {
        "rgb_main": "colors/000129_rgb_main.jpg",
        "rgb_wrist_0": "colors/000129_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000129_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000129_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39854385330438336,
          -0.3191109540953132,
          -0.12003097457487862,
          -1.4807548897253837,
          -0.09648397462860682,
          -0.48960441139089783,
          0.3887591754179523
        ],
        "joint_pos_r": [
          -0.45494823073985313,
          -1.100347849311883,
          0.1269677444108651,
          -0.40660153510625724,
          0.07474355897626164,
          1.0942064358626484,
          -0.4656645186646182
        ],
        "eef_pose_l": [
          464.31179332494884,
          352.4779729656363,
          88.71236831979937,
          1.7164609856851942,
          -0.08725194467950076,
          0.8365107359188985
        ],
        "eef_pose_r": [
          585.2391261053514,
          -219.64478969245812,
          -10.480056715589711,
          1.6209152456474465,
          0.03560982556646964,
          2.57185217213597
        ],
        "joint_status_l": {
          "velocity": [
            -0.35158370828725083,
            0.4340512871392477,
            -0.13261502391137547,
            -0.43422477903654055,
            2.233799701350292,
            0.15713000776029773,
            -2.293611852474786
          ],
          "torque": [
            -28.23486328125,
            12.56103515625,
            -19.20166015625,
            -5.419921875,
            -0.4669189453125,
            -0.501708984375,
            -0.60699462890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2802540365030026,
            -5.248091096213159,
            -0.2604135266954799,
            9.00579018010017,
            -0.21889291565058144,
            4.396476667831273,
            0.6966583167500318
          ],
          "torque": [
            45.21240234375,
            -1.09130859375,
            5.670166015625,
            0.48828125,
            2.6513671875,
            3.2684326171875,
            0.65093994140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.6,
            -9.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.6,
            -9.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.9,
            -17.7,
            -0.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -17.7,
            -0.4,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -251,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 125,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39416329354639973,
          -0.315837240313291,
          -0.12099014218541576,
          -1.4828088288658643,
          -0.07245335964003069,
          -0.49012937585400146,
          0.3642206691101845
        ],
        "act_joint_pos_r": [
          -0.4522401580499058,
          -1.1487937103541568,
          0.12461013529039112,
          -0.3242138190969836,
          0.07337735182312999,
          1.135241699879673,
          -0.4597701269990012
        ],
        "act_eef_pose_l": [
          463.5230875079824,
          352.9222907697837,
          89.26923144788775,
          1.7233257457286673,
          -0.08717453900037095,
          0.8339104382279677
        ],
        "act_eef_pose_r": [
          589.3022644042035,
          -212.23634812687868,
          -13.867056653080226,
          1.6195336676930976,
          0.028725101940942244,
          2.578358435238651
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 130,
      "colors": {
        "rgb_main": "colors/000130_rgb_main.jpg",
        "rgb_wrist_0": "colors/000130_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000130_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000130_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39785634918279444,
          -0.318474482495187,
          -0.12022135220339211,
          -1.4812701604416845,
          -0.09249400239487726,
          -0.4895440965626655,
          0.3846758504873111
        ],
        "joint_pos_r": [
          -0.45444952428840685,
          -1.1095233377015001,
          0.12651578963445267,
          -0.3909100690320687,
          0.07440804314087957,
          1.1019255076959829,
          -0.4644852044487467
        ],
        "eef_pose_l": [
          464.16735368129787,
          352.54489464518053,
          88.80160898729119,
          1.7175460322334137,
          -0.08723279904667162,
          0.8361401218514426
        ],
        "eef_pose_r": [
          586.0871998242321,
          -218.3018091308666,
          -11.187242983689686,
          1.6207581122003536,
          0.0342618032367407,
          2.572972871264684
        ],
        "joint_status_l": {
          "velocity": [
            -0.3988382456254769,
            0.2848137555124808,
            -0.08302686931183079,
            -0.16617128885165755,
            2.164325584152471,
            -0.06320829923511795,
            -2.209094434972414
          ],
          "torque": [
            -28.80615234375,
            12.041015625,
            -19.110107421875,
            -4.72412109375,
            -0.3515625,
            -1.7852783203125,
            -0.61248779296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.23860451649415637,
            -4.241075162661367,
            -0.20580459927654893,
            7.202982552374948,
            -0.11131137936337687,
            3.5980426372432817,
            0.509213346127968
          ],
          "torque": [
            45.21240234375,
            -0.10986328125,
            5.169677734375,
            -0.238037109375,
            2.724609375,
            3.6126708984375,
            0.66009521484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -16.7,
            -8.3,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.7,
            -8.3,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.9,
            -0.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.9,
            -0.8,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -290,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 124,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39236156448491055,
          -0.3186941054526748,
          -0.12006875800740816,
          -1.4784403507561594,
          -0.0671399547480856,
          -0.4951682031752605,
          0.35787841251499386
        ],
        "act_joint_pos_r": [
          -0.4525060856259637,
          -1.1401298339804693,
          0.12510369925520987,
          -0.3437970727214511,
          0.07539345086166183,
          1.1251159838162215,
          -0.4613438125009816
        ],
        "act_eef_pose_l": [
          463.9854875079824,
          352.37669076978364,
          89.09803144788775,
          1.7240387136066184,
          -0.08546753815434288,
          0.8300827566978011
        ],
        "act_eef_pose_r": [
          588.6406644042034,
          -212.32354812687868,
          -12.627056653080217,
          1.617402982864118,
          0.02949651331835513,
          2.5783086665858184
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 131,
      "colors": {
        "rgb_main": "colors/000131_rgb_main.jpg",
        "rgb_wrist_0": "colors/000131_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000131_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000131_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3970486428515802,
          -0.3182535602212958,
          -0.12027814686428015,
          -1.481167019461836,
          -0.08849430193371675,
          -0.49008034287214364,
          0.3805144923009054
        ],
        "joint_pos_r": [
          -0.45402809530299815,
          -1.1166758804616674,
          0.12617498302618932,
          -0.3791804387355639,
          0.07437394191004973,
          1.107755208127237,
          -0.4636722347122312
        ],
        "eef_pose_l": [
          464.0926120872301,
          352.56152584061107,
          88.87254392237895,
          1.718613461043949,
          -0.0870785985567521,
          0.8354015180464941
        ],
        "eef_pose_r": [
          586.7146754489236,
          -217.1054213495088,
          -11.636975390152202,
          1.6203156699189387,
          0.03320358206158986,
          2.5740417884901876
        ],
        "joint_status_l": {
          "velocity": [
            -0.5061895343381195,
            -0.04757748176587029,
            0.02261332959774265,
            0.2944715352413141,
            2.30620147827143,
            -0.5494727069050853,
            -2.4446245165323788
          ],
          "torque": [
            -28.388671875,
            8.45947265625,
            -14.007568359375,
            -1.568603515625,
            -0.56396484375,
            -2.05810546875,
            -0.69488525390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.16437219722131857,
            -2.5329522745964894,
            -0.11569523501719914,
            3.821290826575563,
            0.11010371943842578,
            1.8749084769407176,
            0.25146218233462747
          ],
          "torque": [
            46.23046875,
            -1.201171875,
            5.04150390625,
            -1.4404296875,
            4.4915771484375,
            3.53759765625,
            0.633544921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -17.0,
            -8.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -17.0,
            -8.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.5,
            -0.9,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.5,
            -0.9,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -232,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 87,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3928003208492935,
          -0.32097551520455697,
          -0.11933156777787499,
          -1.474575719198198,
          -0.06866862768331249,
          -0.4962542322833262,
          0.3590315386713417
        ],
        "act_joint_pos_r": [
          -0.4539790571164142,
          -1.1307966480673168,
          0.12560379423911733,
          -0.3627550123700845,
          0.0766696537646996,
          1.1161470179881485,
          -0.4631348676812223
        ],
        "act_eef_pose_l": [
          464.6966875079824,
          352.5854907697837,
          88.43563144788781,
          1.7242646126335948,
          -0.08459588248816051,
          0.830767963359932
        ],
        "act_eef_pose_r": [
          587.5118644042035,
          -212.88354812687868,
          -12.166256653080154,
          1.616551073661852,
          0.029927598702332983,
          2.5784828190049915
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 132,
      "colors": {
        "rgb_main": "colors/000132_rgb_main.jpg",
        "rgb_wrist_0": "colors/000132_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000132_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000132_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3963036050652554,
          -0.3184585560334679,
          -0.12020088634682392,
          -1.4804941949331274,
          -0.08507257770228294,
          -0.4909798722960216,
          0.3768602342649184
        ],
        "joint_pos_r": [
          -0.4538634780672223,
          -1.1199892516094208,
          0.1260279293824778,
          -0.3744652201810303,
          0.07461570430362884,
          1.1100880540073466,
          -0.4633935307915815
        ],
        "eef_pose_l": [
          464.1162682534166,
          352.5408171240706,
          88.8742698778282,
          1.7195001722638246,
          -0.08676798950476228,
          0.8345561424155832
        ],
        "eef_pose_r": [
          586.9751957391368,
          -216.35589674224173,
          -11.7776838017341,
          1.6197854012332604,
          0.03261366481780791,
          2.574750697043809
        ],
        "joint_status_l": {
          "velocity": [
            -0.378343536677761,
            -0.2718235734699981,
            0.09388363649664999,
            0.6391765278692674,
            1.7715743522562777,
            -0.5696140787594395,
            -1.9254423362200512
          ],
          "torque": [
            -29.677734375,
            7.02392578125,
            -12.060546875,
            -0.244140625,
            -0.823974609375,
            -2.4371337890625,
            -0.53924560546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.01248216917071332,
            -1.1671643937791742,
            -0.04580524452946211,
            1.264665144277366,
            0.22181999956449872,
            0.6543488109400641,
            0.027934792026229616
          ],
          "torque": [
            43.798828125,
            2.5341796875,
            8.294677734375,
            -2.783203125,
            4.7314453125,
            2.9827880859375,
            0.6683349609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.6,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.6,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -18.1,
            -2.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -18.1,
            -2.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -270,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 55,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3916780252000539,
          -0.32578488106841524,
          -0.11793150718459852,
          -1.4701649196739879,
          -0.06590164616345671,
          -0.49969636329676,
          0.35562554676383507
        ],
        "act_joint_pos_r": [
          -0.4558206945057912,
          -1.1228726014792045,
          0.1260546403028109,
          -0.3803316913802473,
          0.07826135354566333,
          1.1058214240210982,
          -0.4637991976366353
        ],
        "act_eef_pose_l": [
          465.5166875079824,
          351.37429076978367,
          87.80443144788778,
          1.7247239453110679,
          -0.08266224621264308,
          0.8268724783529199
        ],
        "act_eef_pose_r": [
          586.6438644042034,
          -213.14914812687869,
          -12.104656653080156,
          1.6162907819636576,
          0.028657925320049706,
          2.577299395995483
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 133,
      "colors": {
        "rgb_main": "colors/000133_rgb_main.jpg",
        "rgb_wrist_0": "colors/000133_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000133_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000133_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3955427613395138,
          -0.3195096601170963,
          -0.11987074547611244,
          -1.478891902138833,
          -0.08182352167010684,
          -0.49234620674247564,
          0.37327874205133105
        ],
        "joint_pos_r": [
          -0.45406565756033446,
          -1.120977770283795,
          0.12600304703810616,
          -0.37428838457221764,
          0.07511168275759411,
          1.1100570821305566,
          -0.46341708549631383
        ],
        "eef_pose_l": [
          464.3229620588192,
          352.39495887054255,
          88.72023543598831,
          1.7203779913894794,
          -0.0861464060794966,
          0.8333888069725024
        ],
        "eef_pose_r": [
          586.9789214073386,
          -215.81169451853827,
          -11.836186235766263,
          1.619227582403023,
          0.03204647747651535,
          2.575245986400494
        ],
        "joint_status_l": {
          "velocity": [
            -0.4173791931205706,
            -0.6777038749352648,
            0.20943155862995777,
            0.942486309055468,
            1.7195118404274012,
            -0.7937934961748105,
            -1.9064888621662668
          ],
          "torque": [
            -28.974609375,
            6.01318359375,
            -11.1083984375,
            -0.848388671875,
            -0.5108642578125,
            -2.691650390625,
            -0.5914306640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.18953839997282174,
            -0.20463573369511323,
            0.005571908253343416,
            -0.652657886151875,
            0.34015441279333647,
            -0.4574375844210721,
            -0.04126689405259398
          ],
          "torque": [
            38.4228515625,
            -0.46142578125,
            7.99560546875,
            -3.936767578125,
            5.0537109375,
            2.02880859375,
            -0.00732421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.5,
            -9.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.5,
            -9.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.8,
            -1.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.8,
            -1.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -249,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 68,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3914465547369144,
          -0.32725439475477724,
          -0.11747161195479107,
          -1.4673865418841987,
          -0.06760217488087461,
          -0.5021527996601993,
          0.35723449075451735
        ],
        "act_joint_pos_r": [
          -0.45588938516965477,
          -1.1227558767193655,
          0.12605813861965803,
          -0.3803771402054146,
          0.07798632415897444,
          1.1058223625295798,
          -0.46356469480955437
        ],
        "act_eef_pose_l": [
          465.8950875079824,
          351.35669076978365,
          87.76603144788787,
          1.7237292512005962,
          -0.08251327501286994,
          0.8260697772304417
        ],
        "act_eef_pose_r": [
          586.6046644042035,
          -213.19794812687866,
          -12.18545665308011,
          1.6165725726115137,
          0.02850587371416593,
          2.5773421383129023
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 134,
      "colors": {
        "rgb_main": "colors/000134_rgb_main.jpg",
        "rgb_wrist_0": "colors/000134_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000134_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000134_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3950390312317076,
          -0.3204064287400052,
          -0.11959320008741557,
          -1.4775917869307233,
          -0.0799396306805056,
          -0.4934495994460458,
          0.371170063751947
        ],
        "joint_pos_r": [
          -0.45438279517767316,
          -1.1213011823170491,
          0.12601251712184444,
          -0.3753614125984799,
          0.07564121517843227,
          1.109308275516626,
          -0.463461321263877
        ],
        "eef_pose_l": [
          464.5014857778433,
          352.26490232193385,
          88.6039127228168,
          1.7208391126391007,
          -0.08570039231800872,
          0.8325077484232792
        ],
        "eef_pose_r": [
          586.9168800904707,
          -215.34563482427865,
          -11.89199674336578,
          1.61873585172165,
          0.03143430460708264,
          2.575612912581953
        ],
        "joint_status_l": {
          "velocity": [
            -0.3879760186964454,
            -0.7395585174827524,
            0.2291247606499569,
            1.1021339593213497,
            1.3324059291478507,
            -0.9399179017313131,
            -1.5049974961942603
          ],
          "torque": [
            -29.1650390625,
            6.21826171875,
            -11.456298828125,
            -0.250244140625,
            -0.5548095703125,
            -2.728271484375,
            -0.50537109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.16270692034980883,
            -0.15710236196397886,
            0.004926976450492226,
            -0.5416826054740476,
            0.2532643002672863,
            -0.376467499286548,
            -0.011164013668185646
          ],
          "torque": [
            32.87841796875,
            -1.0400390625,
            7.666015625,
            -4.803466796875,
            5.13427734375,
            1.6168212890625,
            -0.0439453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.6,
            -8.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.6,
            -8.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.6,
            -0.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.6,
            -0.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -274,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 24,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.38980990412114963,
          -0.3289526975208743,
          -0.1170466089032984,
          -1.4674010439775256,
          -0.06618095284486668,
          -0.5016244867719108,
          0.35596771279045275
        ],
        "act_joint_pos_r": [
          -0.45603870957116927,
          -1.1164553982002041,
          0.12645569731831155,
          -0.39650177041893336,
          0.07514939137954846,
          1.0985493817905745,
          -0.46183277920000654
        ],
        "act_eef_pose_l": [
          466.2838875079824,
          350.5926907697837,
          88.11563144788788,
          1.7232648425974573,
          -0.08298280883214851,
          0.8247960844390365
        ],
        "act_eef_pose_r": [
          585.4886644042035,
          -212.45154812687866,
          -11.7262566530801,
          1.6177298676645118,
          0.02785264575935008,
          2.58076486707764
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 135,
      "colors": {
        "rgb_main": "colors/000135_rgb_main.jpg",
        "rgb_wrist_0": "colors/000135_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000135_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000135_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39421935482532644,
          -0.3218468084240212,
          -0.11915563951190666,
          -1.475663862740747,
          -0.0774853311983952,
          -0.4950494523870552,
          0.3684269254244745
        ],
        "joint_pos_r": [
          -0.45466602314119176,
          -1.1208474207326315,
          0.1260654450321868,
          -0.378067784204746,
          0.07573572265710124,
          1.1078712331139882,
          -0.46328416432868663
        ],
        "eef_pose_l": [
          464.7994158248542,
          352.02786499810674,
          88.4773400646873,
          1.7213276461353035,
          -0.08514155141743956,
          0.8311804061540938
        ],
        "eef_pose_r": [
          586.7391287995516,
          -214.88178553260863,
          -11.893666963085565,
          1.6184841636102516,
          0.030842000083045225,
          2.5763043945079436
        ],
        "joint_status_l": {
          "velocity": [
            -0.47620663108771666,
            -0.7674133888122547,
            0.227768588054289,
            0.8923581077322496,
            1.2208368555227667,
            -0.7100827707922086,
            -1.3455552794425785
          ],
          "torque": [
            -30.65185546875,
            5.1416015625,
            -11.114501953125,
            -0.1953125,
            -0.6500244140625,
            -2.6422119140625,
            -0.67657470703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.14824576216243557,
            0.4743244440508221,
            0.042146003871423865,
            -1.9908117952769366,
            -0.06332191039581936,
            -1.0067302510075038,
            0.15674497095208295
          ],
          "torque": [
            31.56005859375,
            4.482421875,
            7.867431640625,
            -4.486083984375,
            3.314208984375,
            1.3421630859375,
            0.56671142578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.7,
            -7.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.7,
            -7.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.5,
            -1.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.5,
            -1.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -284,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 0,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3905363699520026,
          -0.328667905586086,
          -0.11711079120618667,
          -1.4669130395947922,
          -0.06980965824498879,
          -0.5006392016134615,
          0.3597402585502358
        ],
        "act_joint_pos_r": [
          -0.45629333704570474,
          -1.1116600267768004,
          0.12674992984835168,
          -0.40790630155308943,
          0.07436134081257338,
          1.0967366897472055,
          -0.4613246070266535
        ],
        "act_eef_pose_l": [
          466.4726875079824,
          351.1006907697837,
          88.06843144788768,
          1.722515489713843,
          -0.08349966437589394,
          0.8269125353031669
        ],
        "act_eef_pose_r": [
          584.2214644042035,
          -211.83874812687867,
          -10.994256653080129,
          1.6163551054193273,
          0.02741344287194241,
          2.5853860187607935
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 136,
      "colors": {
        "rgb_main": "colors/000136_rgb_main.jpg",
        "rgb_wrist_0": "colors/000136_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000136_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000136_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3934580632151442,
          -0.3231617580554776,
          -0.11876333843177606,
          -1.4740533441620198,
          -0.07570931445241351,
          -0.4961943760937854,
          0.36644690928985435
        ],
        "joint_pos_r": [
          -0.4549542446575034,
          -1.1194760423716603,
          0.12617241921385422,
          -0.38283941060592136,
          0.07553595845413677,
          1.1059045082803796,
          -0.4629524551405943
        ],
        "eef_pose_l": [
          465.0994156378031,
          351.8076301328002,
          88.40482568262408,
          1.7216091878807527,
          -0.08478561493995014,
          0.8301839041013024
        ],
        "eef_pose_r": [
          586.3668306708765,
          -214.353451308414,
          -11.782856191236874,
          1.6181871080595875,
          0.03022306626523351,
          2.5776680052790324
        ],
        "joint_status_l": {
          "velocity": [
            -0.3155335662543557,
            -0.5946463951476133,
            0.17846983667724192,
            0.7711301499941925,
            0.6371440788417448,
            -0.4800269984852612,
            -0.724296917883116
          ],
          "torque": [
            -29.765625,
            4.8193359375,
            -10.9375,
            -0.250244140625,
            -0.897216796875,
            -2.757568359375,
            -0.56854248046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.14461771265406043,
            0.8441047887064457,
            0.062369309041243604,
            -2.7071443793382777,
            -0.12685496390163475,
            -0.9900952002865893,
            0.1758024112907819
          ],
          "torque": [
            31.025390625,
            7.37548828125,
            10.60791015625,
            -5.194091796875,
            3.3526611328125,
            1.080322265625,
            0.55572509765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.5,
            -7.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.5,
            -7.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.8,
            -17.7,
            -1.2,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -17.7,
            -1.2,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -251,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -13,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39115419080277025,
          -0.32801651204773036,
          -0.11724295762191231,
          -1.465701968169128,
          -0.07050343629453373,
          -0.5011380588378446,
          0.36045426701933253
        ],
        "act_joint_pos_r": [
          -0.4546717887481533,
          -1.1128316296796381,
          0.12664140965494755,
          -0.4027462132970942,
          0.06871317726747384,
          1.1028407288417685,
          -0.4578256625975461
        ],
        "act_eef_pose_l": [
          466.4990875079824,
          351.8062907697837,
          87.87803144788772,
          1.7228251747300818,
          -0.0835872093912277,
          0.8282672907694879
        ],
        "act_eef_pose_r": [
          583.9326644042035,
          -212.00994812687867,
          -10.982256653080185,
          1.619181916322005,
          0.027779247409476557,
          2.5894328483784834
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 137,
      "colors": {
        "rgb_main": "colors/000137_rgb_main.jpg",
        "rgb_wrist_0": "colors/000137_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000137_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000137_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39299454535775846,
          -0.32407934573572345,
          -0.11848250541543187,
          -1.4726868643769968,
          -0.07472579136001524,
          -0.49702310339423206,
          0.3653224402867243
        ],
        "joint_pos_r": [
          -0.45500303247108154,
          -1.118146173022743,
          0.12626791423626346,
          -0.38692769927168513,
          0.07460212090031,
          1.1049406921286644,
          -0.4622037885045725
        ],
        "eef_pose_l": [
          465.3448325204097,
          351.7436873251942,
          88.32911529053212,
          1.7217917916656433,
          -0.08456611582655403,
          0.829722158355075
        ],
        "eef_pose_r": [
          585.9302399850552,
          -213.89880975366546,
          -11.634419264951418,
          1.6181968570627334,
          0.029731575592622076,
          2.5796375030676235
        ],
        "joint_status_l": {
          "velocity": [
            -0.19875243004952026,
            -0.425201421050847,
            0.13386721349772923,
            0.7543465421893103,
            0.45600089804442856,
            -0.4444020809710736,
            -0.5257472067934366
          ],
          "torque": [
            -29.59716796875,
            4.5703125,
            -10.992431640625,
            -0.09765625,
            -0.69580078125,
            -2.8472900390625,
            -0.57769775390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.035773267000216435,
            0.5739537531948002,
            0.040336315561773084,
            -1.7083491296796538,
            -0.6359871549078688,
            -0.22678934619069224,
            0.47282365277068195
          ],
          "torque": [
            34.44580078125,
            8.07861328125,
            6.70166015625,
            -5.62744140625,
            2.816162109375,
            1.3055419921875,
            0.64178466796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.5,
            -8.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.5,
            -8.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.5,
            -1.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.5,
            -1.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -253,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -43,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3920893257858735,
          -0.3277520013578096,
          -0.1173219502648821,
          -1.4659756327245255,
          -0.07470120725167483,
          -0.501237626706614,
          0.3650673119937487
        ],
        "act_joint_pos_r": [
          -0.454815522033595,
          -1.103719295862882,
          0.12721002071983184,
          -0.424387474131997,
          0.06395388715519656,
          1.094037256741996,
          -0.4559350189001485
        ],
        "act_eef_pose_l": [
          466.4126875079824,
          351.8606907697837,
          87.89963144788776,
          1.721494878428367,
          -0.08402951615319185,
          0.8286823069860916
        ],
        "act_eef_pose_r": [
          582.1790644042035,
          -211.29074812687867,
          -10.369456653080078,
          1.6212775433456272,
          0.02804442043063356,
          2.59468086332479
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 138,
      "colors": {
        "rgb_main": "colors/000138_rgb_main.jpg",
        "rgb_wrist_0": "colors/000138_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000138_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000138_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39274634014477755,
          -0.3247112268563346,
          -0.11828331978455432,
          -1.4715544826043112,
          -0.07427558744773452,
          -0.4977053687457778,
          0.36479019835789617
        ],
        "joint_pos_r": [
          -0.45497671850562404,
          -1.117554363404535,
          0.1263084390394966,
          -0.3886077710903396,
          0.07402564373549872,
          1.1046295576795102,
          -0.4617996835205993
        ],
        "eef_pose_l": [
          465.51084440206284,
          351.7480497559106,
          88.10570194997212,
          1.7222412711243746,
          -0.08429847339614234,
          0.829603293816639
        ],
        "eef_pose_r": [
          585.7351987966148,
          -213.72543006138287,
          -11.570321514640426,
          1.6183125616975074,
          0.02956336031541513,
          2.5805575118893027
        ],
        "joint_status_l": {
          "velocity": [
            -0.0709554580424765,
            -0.32839396069705984,
            0.10382484597448727,
            0.6024980172885108,
            -0.04596558314307053,
            -0.38147260883691914,
            0.02992739001062006
          ],
          "torque": [
            -29.96337890625,
            4.7900390625,
            -10.8154296875,
            0.140380859375,
            -1.6937255859375,
            -2.8839111328125,
            -0.53192138671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.01740870553668117,
            1.4941432271005084,
            0.09736794976189511,
            -3.864093963139581,
            -1.0877176301560265,
            -1.1439347627000274,
            0.6333650989036599
          ],
          "torque": [
            34.716796875,
            7.74169921875,
            6.92138671875,
            -5.2490234375,
            2.75390625,
            1.2249755859375,
            0.6427001953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.8,
            -8.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.8,
            -8.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.5,
            -0.7,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.5,
            -0.7,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -248,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -19,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39318675779764184,
          -0.3272030716157596,
          -0.11747868707635765,
          -1.4664588599938766,
          -0.0778192169599,
          -0.5007686523016689,
          0.3685391253175357
        ],
        "act_joint_pos_r": [
          -0.4542119173394928,
          -1.099022614148797,
          0.12749419578214574,
          -0.434588344947728,
          0.06062304457001222,
          1.0909126547258798,
          -0.45413277169364263
        ],
        "act_eef_pose_l": [
          466.2838875079824,
          352.0494907697837,
          87.77243144788785,
          1.720902618704619,
          -0.08429808142997543,
          0.8295413295769738
        ],
        "act_eef_pose_r": [
          581.2606644042035,
          -211.06434812687868,
          -9.770256653079969,
          1.6225037765823596,
          0.02839092296280551,
          2.5980999558658047
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 139,
      "colors": {
        "rgb_main": "colors/000139_rgb_main.jpg",
        "rgb_wrist_0": "colors/000139_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000139_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000139_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3926939460211185,
          -0.32521696316252563,
          -0.11812244951370907,
          -1.4705961752770949,
          -0.07453202748173222,
          -0.49830264964694454,
          0.3650409407049996
        ],
        "joint_pos_r": [
          -0.45493727972963954,
          -1.114869252522598,
          0.1264830928830002,
          -0.39552299757365567,
          0.07207222797262972,
          1.1025808034758118,
          -0.46066427171641217
        ],
        "eef_pose_l": [
          465.67854249562515,
          351.7867486254472,
          88.18559813365334,
          1.7217800368055833,
          -0.08437483266678322,
          0.8294111454499222
        ],
        "eef_pose_r": [
          585.062731273682,
          -213.26126980828417,
          -11.34061630456489,
          1.6188928114209624,
          0.029257078862491712,
          2.583281977374897
        ],
        "joint_status_l": {
          "velocity": [
            0.05322210216229806,
            -0.2144933868049037,
            0.06952429272455429,
            0.44681687242764667,
            -0.35500599329996163,
            -0.2663204320088042,
            0.3777927957506755
          ],
          "torque": [
            -26.8212890625,
            4.8779296875,
            -10.443115234375,
            0.54931640625,
            -2.6531982421875,
            -2.81982421875,
            0.12542724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.07833682771485329,
            1.7113864697257952,
            0.10919589254698714,
            -4.218933085619714,
            -1.2364753395919248,
            -1.2601228996551583,
            0.7053811983528391
          ],
          "torque": [
            35.00244140625,
            6.43798828125,
            11.199951171875,
            -5.987548828125,
            2.52685546875,
            0.8917236328125,
            0.71685791015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.6,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.6,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.6,
            -0.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.6,
            -0.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -227,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 20,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.393184357335735,
          -0.325171642878282,
          -0.1179759918550895,
          -1.465707730989776,
          -0.06944812321809478,
          -0.5005585129372081,
          0.36159355999311366
        ],
        "act_joint_pos_r": [
          -0.45278786131417226,
          -1.0944922523607306,
          0.1277646092556534,
          -0.44379259228159973,
          0.05444719278170673,
          1.090290919417558,
          -0.4507855243591239
        ],
        "act_eef_pose_l": [
          466.0190875079824,
          353.2622907697837,
          87.23723144788782,
          1.72507855342177,
          -0.08542366953586489,
          0.8308908762582565
        ],
        "act_eef_pose_r": [
          580.0686644042034,
          -210.7283481268787,
          -9.049456653080142,
          1.6249190722531919,
          0.029123688619650753,
          2.6040878894288872
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 140,
      "colors": {
        "rgb_main": "colors/000140_rgb_main.jpg",
        "rgb_wrist_0": "colors/000140_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000140_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000140_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.39277489118992437,
          -0.3254835638766941,
          -0.11803128334712656,
          -1.4698938693599806,
          -0.07482556493923542,
          -0.4987018520329153,
          0.36541120320424303
        ],
        "joint_pos_r": [
          -0.4547878749302408,
          -1.112000134225449,
          0.12666588142092033,
          -0.40256681030508373,
          0.06995617260802002,
          1.1005085406832946,
          -0.45945972358850357
        ],
        "eef_pose_l": [
          465.7703722188047,
          351.86562533278374,
          88.10178354308528,
          1.721759298199222,
          -0.08439486026659264,
          0.8294718264481271
        ],
        "eef_pose_r": [
          584.3877177256818,
          -212.86734946055267,
          -11.058777640552847,
          1.6195674273579583,
          0.02908644272379172,
          2.5859959461124804
        ],
        "joint_status_l": {
          "velocity": [
            0.044221039517289285,
            0.033686474298910696,
            0.005971305025775919,
            0.4520896103130667,
            0.5807465776784815,
            -0.2005134638349837,
            -0.41229330686087806
          ],
          "torque": [
            -25.65673828125,
            4.5556640625,
            -10.31494140625,
            0.0732421875,
            -3.1695556640625,
            -2.7850341796875,
            0.4339599609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2159951001008409,
            1.8907954753579759,
            0.118659106487784,
            -4.452253141276508,
            -1.6749204221045977,
            -1.1034705515760024,
            0.9367858877502577
          ],
          "torque": [
            38.9794921875,
            7.87353515625,
            11.41357421875,
            -5.43212890625,
            2.369384765625,
            1.0107421875,
            0.79010009765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.6,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.6,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.6,
            -0.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.6,
            -0.3,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -217,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 17,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3893736462521804,
          -0.32246421190697944,
          -0.11855645126662497,
          -1.4619514795280621,
          -0.05452792481852197,
          -0.5023551452449615,
          0.347706505491951
        ],
        "act_joint_pos_r": [
          -0.4516322887369917,
          -1.0933154802197451,
          0.1278401971297807,
          -0.4463289675721016,
          0.050418613863773665,
          1.0905255024279508,
          -0.447955129638604
        ],
        "act_eef_pose_l": [
          466.27108750798243,
          355.5838907697837,
          87.84443144788774,
          1.7296741075060456,
          -0.08821773361650556,
          0.8332207844302522
        ],
        "act_eef_pose_r": [
          579.6902644042035,
          -210.48354812687867,
          -8.755856653080173,
          1.6268899444973333,
          0.029069366470914352,
          2.6070002688952987
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 141,
      "colors": {
        "rgb_main": "colors/000141_rgb_main.jpg",
        "rgb_wrist_0": "colors/000141_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000141_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000141_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3923670558944877,
          -0.3250872185231558,
          -0.11809465783798455,
          -1.4686803556459653,
          -0.0719945190198536,
          -0.4992565399773191,
          0.3629861413422537
        ],
        "joint_pos_r": [
          -0.4543264793947932,
          -1.1086056480481727,
          0.12687903173937579,
          -0.4105428888053894,
          0.06673393277829806,
          1.0985939452494795,
          -0.45761590189456536
        ],
        "eef_pose_l": [
          465.8474240830812,
          352.402566656233,
          88.02648021053494,
          1.7229168935793844,
          -0.08493435424123302,
          0.8300085940017184
        ],
        "eef_pose_r": [
          583.5620974830362,
          -212.44265575140057,
          -10.6640263008305,
          1.620716137200294,
          0.02905077566254282,
          2.5896370077410236
        ],
        "joint_status_l": {
          "velocity": [
            -0.323278706773511,
            0.283276359757334,
            -0.04987221939056763,
            0.7266971879467121,
            1.8863365392215448,
            -0.3346394992407298,
            -1.6501520032008443
          ],
          "torque": [
            -30.46142578125,
            9.7998046875,
            -14.6728515625,
            0.250244140625,
            -0.5694580078125,
            -2.691650390625,
            -0.556640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2909640095181132,
            1.6512894232922903,
            0.10380280066368819,
            -3.864782521137311,
            -1.7620024752835195,
            -0.8713661251551486,
            1.043332632193028
          ],
          "torque": [
            41.09619140625,
            7.74169921875,
            11.82861328125,
            -5.84716796875,
            2.3565673828125,
            1.4447021484375,
            0.8551025390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.7,
            -8.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -16.7,
            -8.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.6,
            -0.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.6,
            -0.4,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -265,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -24,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3906982292153333,
          -0.31958399724771913,
          -0.11937647906674077,
          -1.4637594190237617,
          -0.05334238530481113,
          -0.4974004517159593,
          0.3442389057761696
        ],
        "act_joint_pos_r": [
          -0.4521791541047433,
          -1.0930443825824763,
          0.12784902309371163,
          -0.44614604292014387,
          0.04830658390237508,
          1.091894429993992,
          -0.44559088210373055
        ],
        "act_eef_pose_l": [
          466.1086875079824,
          357.0430907697837,
          87.45323144788772,
          1.73206897697104,
          -0.08648182568133912,
          0.8390092664235106
        ],
        "act_eef_pose_r": [
          579.2374644042035,
          -210.51554812687868,
          -9.324656653080183,
          1.6284859808589134,
          0.02717212996342574,
          2.608560316893406
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 142,
      "colors": {
        "rgb_main": "colors/000142_rgb_main.jpg",
        "rgb_wrist_0": "colors/000142_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000142_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000142_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.392004722123034,
          -0.3242604793061695,
          -0.11827964810952649,
          -1.4677184734175979,
          -0.06875687459899273,
          -0.4991800004545864,
          0.3598475803994263
        ],
        "joint_pos_r": [
          -0.4539719085656395,
          -1.106257710919026,
          0.1270258097992176,
          -0.4159568450886333,
          0.06404727404439979,
          1.0975053559316963,
          -0.4559142837740288
        ],
        "eef_pose_l": [
          465.903663829302,
          353.14562787238305,
          87.94399556486636,
          1.7244148182122052,
          -0.08529620895150612,
          0.831292957273865
        ],
        "eef_pose_r": [
          582.9403563779559,
          -212.14541263569174,
          -10.434238319930301,
          1.6218069819463166,
          0.028840509034978097,
          2.5924387511309703
        ],
        "joint_status_l": {
          "velocity": [
            -0.1410970725963523,
            0.5050451668018319,
            -0.11845424975776009,
            0.42756526417164764,
            1.664715745605172,
            0.19218559556088977,
            -1.6856871426274012
          ],
          "torque": [
            -29.208984375,
            10.48095703125,
            -17.29736328125,
            0.06103515625,
            -0.4083251953125,
            -1.138916015625,
            -0.54473876953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.1936117715031216,
            1.4269973733096464,
            0.08890441370978941,
            -3.260337207296793,
            -1.6999443981586815,
            -0.6059621293754702,
            1.1148944983370157
          ],
          "torque": [
            44.52392578125,
            6.52587890625,
            11.798095703125,
            -5.426025390625,
            2.4957275390625,
            1.2762451171875,
            0.882568359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -16.4,
            -8.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.1,
            -16.4,
            -8.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -17.5,
            -0.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -17.5,
            -0.3,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -280,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 17,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3941762154618067,
          -0.3155566832883471,
          -0.12030776033219077,
          -1.459141114785011,
          -0.05128102908975244,
          -0.49983734153964776,
          0.3401216208727863
        ],
        "act_joint_pos_r": [
          -0.45266131367154605,
          -1.093696812003741,
          0.1278106192946351,
          -0.44468546695425026,
          0.04622501185621175,
          1.093976037090229,
          -0.4427982693427452
        ],
        "act_eef_pose_l": [
          465.6782875079824,
          360.3646907697837,
          86.05723144788776,
          1.7361400177663036,
          -0.083834506043211,
          0.844732649160229
        ],
        "act_eef_pose_r": [
          578.8510644042035,
          -210.32434812687868,
          -9.926256653080145,
          1.629924638350477,
          0.024763056681105157,
          2.6104005746869943
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 143,
      "colors": {
        "rgb_main": "colors/000143_rgb_main.jpg",
        "rgb_wrist_0": "colors/000143_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000143_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000143_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3921824065695833,
          -0.32303723398784234,
          -0.11856505041091331,
          -1.4665464808497992,
          -0.06599019519217554,
          -0.4991624364690235,
          0.35681698103240184
        ],
        "joint_pos_r": [
          -0.4537028926043952,
          -1.1039863774095795,
          0.12716754098876185,
          -0.42114927258070123,
          0.06105714370979374,
          1.096720344526951,
          -0.45381125177537573
        ],
        "eef_pose_l": [
          465.89149839103754,
          354.249718375144,
          87.67915692539643,
          1.7262809509233548,
          -0.08516810970776216,
          0.8333650597291347
        ],
        "eef_pose_r": [
          582.2558986327821,
          -211.83458622055562,
          -10.300197770820972,
          1.623125848637522,
          0.028288330918166897,
          2.595484603202988
        ],
        "joint_status_l": {
          "velocity": [
            0.21532500968834967,
            0.8078756485270233,
            -0.1882071206256164,
            0.7997559474564042,
            1.5885430874877926,
            -0.07288759792256627,
            -1.80304571924772
          ],
          "torque": [
            -20.86669921875,
            12.07763671875,
            -17.81005859375,
            0.518798828125,
            -0.523681640625,
            -2.032470703125,
            -0.62164306640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.11248720711476423,
            1.1112402895507856,
            0.069450408703986,
            -2.5418340249561133,
            -1.6018229969429476,
            -0.29637646201052803,
            1.1893670242191234
          ],
          "torque": [
            45.79833984375,
            7.44140625,
            11.97509765625,
            -5.06591796875,
            2.5360107421875,
            1.34033203125,
            0.85235595703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.4,
            -9.1,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.1,
            -16.4,
            -9.1,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.5,
            0.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.5,
            0.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -41,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.39250048276272664,
          -0.3135991022937195,
          -0.12083694301148709,
          -1.4587837964836459,
          -0.047280718169130896,
          -0.49839849580915097,
          0.33546676847265156
        ],
        "act_joint_pos_r": [
          -0.4534098218648781,
          -1.0928896560935466,
          0.12787647078667744,
          -0.4473097739220259,
          0.0459987273586262,
          1.0925466048810246,
          -0.44183373864443126
        ],
        "act_eef_pose_l": [
          465.8406875079824,
          361.6406907697837,
          86.68603144788771,
          1.7371812905095823,
          -0.08478220541122122,
          0.8479507020289351
        ],
        "act_eef_pose_r": [
          578.5366644042034,
          -210.0979481268787,
          -10.240656653080123,
          1.6302963653430504,
          0.02325864252825537,
          2.6107925355201527
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 144,
      "colors": {
        "rgb_main": "colors/000144_rgb_main.jpg",
        "rgb_wrist_0": "colors/000144_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000144_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000144_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.392323750032272,
          -0.32146791201787733,
          -0.11893986468559557,
          -1.4651921200070153,
          -0.06288536491619365,
          -0.4991004395504804,
          0.3532784885083401
        ],
        "joint_pos_r": [
          -0.45359594815421106,
          -1.102225497565851,
          0.1272789157750609,
          -0.42524390402723444,
          0.0585993757671051,
          1.096146425170477,
          -0.45191792927744756
        ],
        "eef_pose_l": [
          465.88324998893523,
          355.4119885119072,
          87.48908098846078,
          1.7280357604216758,
          -0.08506421053315864,
          0.8356243444109923
        ],
        "eef_pose_r": [
          581.6750909017416,
          -211.56404247253906,
          -10.267543360506124,
          1.6242728376442233,
          0.027568140820559212,
          2.597980546906236
        ],
        "joint_status_l": {
          "velocity": [
            0.019086571960702514,
            0.849806386509222,
            -0.20487841663041628,
            0.69207852875941,
            1.6852521448276203,
            0.07580768823567396,
            -1.923609030038964
          ],
          "torque": [
            -22.65380859375,
            13.11767578125,
            -18.121337890625,
            -0.03662109375,
            -0.5255126953125,
            -0.919189453125,
            -0.6097412109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.02010104639937893,
            1.0082411425269555,
            0.06453403792483492,
            -2.383043664521356,
            -1.3608298925834594,
            -0.38876912512897377,
            1.0890604682440852
          ],
          "torque": [
            43.58642578125,
            7.19970703125,
            11.578369140625,
            -5.43212890625,
            2.3931884765625,
            1.1480712890625,
            0.59417724609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.4,
            -8.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.4,
            -8.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.0,
            -0.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.0,
            -0.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -261,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -103,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3853218822665334,
          -0.31023990512014366,
          -0.12168557871734732,
          -1.456074367782786,
          -0.0416130631734148,
          -0.49254836417669073,
          0.3342505752684249
        ],
        "act_joint_pos_r": [
          -0.45430960726849584,
          -1.0935712530590873,
          0.1278416339452384,
          -0.4462108137601611,
          0.04506554265530349,
          1.0945134541488168,
          -0.4391219355630141
        ],
        "act_eef_pose_l": [
          467.4542875079824,
          365.17669076978365,
          89.57803144788777,
          1.7364838910677254,
          -0.09577401345629664,
          0.8581701189981986
        ],
        "act_eef_pose_r": [
          578.0982644042035,
          -209.81474812687867,
          -10.867056653079999,
          1.6309047347041852,
          0.020029301587211345,
          2.612418124498649
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 145,
      "colors": {
        "rgb_main": "colors/000145_rgb_main.jpg",
        "rgb_wrist_0": "colors/000145_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000145_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000145_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3917294819278838,
          -0.3201877635753441,
          -0.11925182355899049,
          -1.464151830465751,
          -0.060432069130468134,
          -0.498509535817598,
          0.3509293711755749
        ],
        "joint_pos_r": [
          -0.4536223620366392,
          -1.1009673779162557,
          0.12735995444944354,
          -0.4282473062907642,
          0.05679359755227353,
          1.095760325933857,
          -0.4503585957283722
        ],
        "eef_pose_l": [
          466.0243158319566,
          356.4952860301541,
          87.63061288678071,
          1.7291506178762313,
          -0.08597307646590137,
          0.8380389285874134
        ],
        "eef_pose_r": [
          581.2173375260647,
          -211.3417954226834,
          -10.301655457446458,
          1.6251446927694468,
          0.026774619832888428,
          2.599863634975534
        ],
        "joint_status_l": {
          "velocity": [
            -0.6920003539665487,
            1.0743370272852104,
            -0.2628378051158231,
            0.872340241459213,
            2.0323927011432485,
            0.6437875497193879,
            -1.8012568327421263
          ],
          "torque": [
            -28.6669921875,
            13.92333984375,
            -18.963623046875,
            0.3662109375,
            -0.5859375,
            -0.611572265625,
            -0.56854248046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.07422029602954794,
            0.7987579264687739,
            0.052019851302320674,
            -1.9400015894066591,
            -1.2665925727216587,
            -0.1346581812544656,
            1.2135235068964079
          ],
          "torque": [
            40.869140625,
            6.8701171875,
            8.8623046875,
            -5.0048828125,
            2.3089599609375,
            1.23046875,
            0.62896728515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -16.6,
            -7.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -16.6,
            -7.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.2,
            0.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.2,
            0.0,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -242,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -55,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3782294239159264,
          -0.3141823835229438,
          -0.12019068502397293,
          -1.444197903227743,
          -0.03545768462615835,
          -0.49608958368637546,
          0.33056721705551106
        ],
        "act_joint_pos_r": [
          -0.45618934923139115,
          -1.0929330923397562,
          0.12785824043492558,
          -0.4461008202547127,
          0.046031426455206415,
          1.0955743965032494,
          -0.43790044212529444
        ],
        "act_eef_pose_l": [
          470.06948750798244,
          367.21989076978366,
          90.9764314478878,
          1.7359173007525772,
          -0.10176405330374375,
          0.8615002044326316
        ],
        "act_eef_pose_r": [
          577.5894644042035,
          -210.17074812687866,
          -11.718256653080289,
          1.6309040123469603,
          0.016861086707117747,
          2.612255950723825
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 146,
      "colors": {
        "rgb_main": "colors/000146_rgb_main.jpg",
        "rgb_wrist_0": "colors/000146_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000146_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000146_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.38990906612976,
          -0.31864585261230094,
          -0.11958350329705279,
          -1.4616048701596336,
          -0.056345919242544715,
          -0.4976867940205485,
          0.3474601119327173
        ],
        "joint_pos_r": [
          -0.4538878095501987,
          -1.099523223573161,
          0.1274522070913164,
          -0.43163514454842394,
          0.054646202222326676,
          1.0956011167325022,
          -0.4481463784996047
        ],
        "eef_pose_l": [
          466.533691577122,
          358.3013515204997,
          88.10788257205849,
          1.7305280020751088,
          -0.08835288546772588,
          0.8421016481884881
        ],
        "eef_pose_r": [
          580.5949297346144,
          -211.0766059288343,
          -10.471576415368702,
          1.6262336455488604,
          0.025267284197046023,
          2.6022343417858695
        ],
        "joint_status_l": {
          "velocity": [
            -1.2613641571470602,
            0.48204044462796247,
            -0.06557369251458667,
            1.8798969840467805,
            2.2558628054527574,
            0.1724936286628953,
            -1.8243788395606586
          ],
          "torque": [
            -31.6845703125,
            12.5244140625,
            -18.731689453125,
            0.555419921875,
            -0.5401611328125,
            -0.82763671875,
            -0.589599609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2485589547140954,
            0.7117131823495271,
            0.04385030781406396,
            -1.562246900269404,
            -0.9303683431015064,
            -0.0028856996507897748,
            1.1065284931119912
          ],
          "torque": [
            39.90234375,
            6.50390625,
            9.185791015625,
            -5.950927734375,
            2.501220703125,
            1.8951416015625,
            0.6207275390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.5,
            -8.8,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.5,
            -8.8,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.9,
            -17.6,
            -0.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -17.6,
            -0.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -263,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -53,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3707699453543283,
          -0.32525933969472415,
          -0.11636712082319801,
          -1.4168450012478377,
          -0.029095797473349578,
          -0.5098491183989446,
          0.32784170536897006
        ],
        "act_joint_pos_r": [
          -0.45902827344175634,
          -1.089646928185757,
          0.12803329002403774,
          -0.45133345462584235,
          0.046549848175822195,
          1.0935110188323733,
          -0.43676933306445287
        ],
        "act_eef_pose_l": [
          474.6422875079824,
          370.11669076978365,
          90.79723144788777,
          1.7364342989124575,
          -0.10724755797005879,
          0.8627255438709969
        ],
        "act_eef_pose_r": [
          576.6166644042034,
          -210.71154812687865,
          -12.893456653080193,
          1.631812583765728,
          0.0133952234134224,
          2.611895853652925
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 147,
      "colors": {
        "rgb_main": "colors/000147_rgb_main.jpg",
        "rgb_wrist_0": "colors/000147_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000147_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000147_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3873061657482828,
          -0.3186553416614794,
          -0.11941517246640611,
          -1.456554980005548,
          -0.05219400056755522,
          -0.49839648031762723,
          0.34427679194184485
        ],
        "joint_pos_r": [
          -0.45459443600982286,
          -1.0979158179895352,
          0.12754888822170812,
          -0.4349933711056551,
          0.05295843295546121,
          1.095418528756789,
          -0.4459889374161286
        ],
        "eef_pose_l": [
          467.5080905693496,
          360.07568957810105,
          88.58970130169601,
          1.731530314644229,
          -0.09115133253904133,
          0.8455949067105482
        ],
        "eef_pose_r": [
          579.9108373125563,
          -210.93992726036174,
          -10.825928125626376,
          1.6272536364476193,
          0.023277730630433893,
          2.6042264716224413
        ],
        "joint_status_l": {
          "velocity": [
            -1.7858591314476868,
            -0.7132107525635867,
            0.32917986882519124,
            4.288551221776515,
            2.494532361874968,
            -1.2368484338876051,
            -1.7749370009019216
          ],
          "torque": [
            -29.94140625,
            6.84814453125,
            -11.810302734375,
            0.347900390625,
            -0.65185546875,
            -1.7889404296875,
            -0.692138671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.4788403200080005,
            0.8930137607752187,
            0.05231385173698477,
            -1.7646769738144386,
            -0.6921067436037598,
            -0.20600499604483957,
            0.9956879037362754
          ],
          "torque": [
            31.35498046875,
            8.02001953125,
            10.29052734375,
            -5.04150390625,
            2.5103759765625,
            1.2799072265625,
            0.57769775390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.4,
            -8.4,
            1.3,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.4,
            -8.4,
            1.3,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.3,
            0.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.3,
            0.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -230,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -87,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3648131789128269,
          -0.34258529557696055,
          -0.11109064310138855,
          -1.380783651832687,
          -0.021449496424101724,
          -0.5280813319507608,
          0.31992764107502647
        ],
        "act_joint_pos_r": [
          -0.4621037714548,
          -1.086126266319477,
          0.12817840900322225,
          -0.4541733061670128,
          0.048738575157063924,
          1.093330381243126,
          -0.43627218164197074
        ],
        "act_eef_pose_l": [
          480.4238875079824,
          372.5318907697837,
          88.59563144788767,
          1.739488330341492,
          -0.10621258037088867,
          0.8622796854539168
        ],
        "act_eef_pose_r": [
          575.7398644042034,
          -212.04594812687867,
          -14.019856653080296,
          1.6317737566612187,
          0.009812948994076262,
          2.6102277868834167
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 148,
      "colors": {
        "rgb_main": "colors/000148_rgb_main.jpg",
        "rgb_wrist_0": "colors/000148_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000148_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000148_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.38412088020575896,
          -0.3205837119074933,
          -0.11864457787793913,
          -1.447950582226553,
          -0.04777431920106881,
          -0.5012219217919168,
          0.3410234489566339
        ],
        "joint_pos_r": [
          -0.45545837358726504,
          -1.0964018699520939,
          0.12763489333388683,
          -0.43780429352243844,
          0.05200099157820014,
          1.0950970117965395,
          -0.44445144911290824
        ],
        "eef_pose_l": [
          469.05193611826485,
          361.94888971399416,
          88.86902482610586,
          1.7324939426495904,
          -0.09399711669080454,
          0.848591416589185
        ],
        "eef_pose_r": [
          579.3342321101869,
          -210.9610820124608,
          -11.218405259762164,
          1.628004478764894,
          0.02149479095988283,
          2.605419580929382
        ],
        "joint_status_l": {
          "velocity": [
            -2.0851702408277717,
            -2.376100956950733,
            0.8158008951062445,
            7.253814542714565,
            2.8429970101977453,
            -2.9007307446744512,
            -2.278280056934978
          ],
          "torque": [
            -30.35888671875,
            6.5185546875,
            -10.60791015625,
            -0.20751953125,
            -0.794677734375,
            -2.6055908203125,
            -0.648193359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.7176818028002963,
            1.1097324625133353,
            0.058697961084375194,
            -1.767801227103405,
            -0.3523305820476996,
            -0.1907904727049825,
            0.883334834293148
          ],
          "torque": [
            29.58251953125,
            7.0166015625,
            12.060546875,
            -5.548095703125,
            2.471923828125,
            1.0748291015625,
            0.498046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.5,
            -9.3,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.2,
            -16.5,
            -9.3,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.1,
            -0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.1,
            -0.5,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -217,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -70,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3619280433370393,
          -0.3497042674311516,
          -0.10922433224252097,
          -1.3699260109281235,
          -0.0165103616641407,
          -0.5312243467748763,
          0.31280420537375125
        ],
        "act_joint_pos_r": [
          -0.4637657022894559,
          -1.0815829820202896,
          0.12842023958867865,
          -0.4610741561998225,
          0.04949520332237567,
          1.0902165498255953,
          -0.4357688003072932
        ],
        "act_eef_pose_l": [
          482.73348750798243,
          372.6470907697837,
          87.89243144788774,
          1.7412229939248562,
          -0.10387182740186252,
          0.8626424521344959
        ],
        "act_eef_pose_r": [
          574.9998644042034,
          -212.92594812687867,
          -14.378256653080143,
          1.6321087406694408,
          0.00806032705499887,
          2.609220294122835
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 149,
      "colors": {
        "rgb_main": "colors/000149_rgb_main.jpg",
        "rgb_wrist_0": "colors/000149_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000149_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000149_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.38086170233456174,
          -0.32441060609995037,
          -0.11734770925593706,
          -1.4365884633876038,
          -0.04330098743455256,
          -0.5057301701672235,
          0.33734532844187376
        ],
        "joint_pos_r": [
          -0.4566823456634003,
          -1.0944510766873226,
          0.12773812298841208,
          -0.44090197666750014,
          0.05144648167623559,
          1.0946928306639752,
          -0.4429904412893557
        ],
        "eef_pose_l": [
          471.02546312990415,
          363.69219039532504,
          88.78804274738818,
          1.7336054911929122,
          -0.09598205475910802,
          0.8508541561925281
        ],
        "eef_pose_r": [
          578.6810606745291,
          -211.17994327524377,
          -11.728453140609588,
          1.6286831500789165,
          0.01937719328587248,
          2.6062447004655325
        ],
        "joint_status_l": {
          "velocity": [
            -2.044774864321308,
            -2.731634858506027,
            0.8772988429026629,
            7.199332532660918,
            2.8933022498160432,
            -2.7532898696822627,
            -2.6503631230756497
          ],
          "torque": [
            -30.849609375,
            5.23681640625,
            -11.163330078125,
            0.40283203125,
            -0.88623046875,
            -2.6019287109375,
            -0.6646728515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.7649799537361446,
            1.3897132366382792,
            0.0736664201538284,
            -2.1785311371491645,
            -0.21073184701331238,
            -0.4834240727147332,
            0.7799142237221446
          ],
          "torque": [
            30.09521484375,
            5.45654296875,
            8.660888671875,
            -5.242919921875,
            2.698974609375,
            1.065673828125,
            0.5694580078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -16.5,
            -7.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.5,
            -7.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -17.8,
            -0.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -17.8,
            -0.4,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -333,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -85,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3596762075573082,
          -0.367034501986607,
          -0.1046399627500183,
          -1.3319102922638133,
          -0.019627000662968633,
          -0.5514568253433975,
          0.3116084813496856
        ],
        "act_joint_pos_r": [
          -0.46961441040215185,
          -1.0678552351148045,
          0.12929105978550184,
          -0.4892208489715563,
          0.05362076304884944,
          1.0722621992697199,
          -0.43827126726240756
        ],
        "act_eef_pose_l": [
          488.3030875079824,
          375.4550907697837,
          85.27963144788787,
          1.7413214321711945,
          -0.09856373543754042,
          0.8640312480548756
        ],
        "act_eef_pose_r": [
          572.9638644042035,
          -214.0619481268787,
          -15.548656653080116,
          1.6326781968546513,
          0.0049685338897097414,
          2.6045563502262734
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 150,
      "colors": {
        "rgb_main": "colors/000150_rgb_main.jpg",
        "rgb_wrist_0": "colors/000150_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000150_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000150_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.377259968741784,
          -0.3308383306626973,
          -0.11539411471020028,
          -1.4205121803380747,
          -0.03891586991383713,
          -0.5125208449249615,
          0.3328713226917933
        ],
        "joint_pos_r": [
          -0.45867180690108256,
          -1.0904458951376017,
          0.1279684691939768,
          -0.4480156821370253,
          0.051621389377760764,
          1.0916387485014087,
          -0.44202895963303224
        ],
        "eef_pose_l": [
          474.0036497510826,
          365.76065323420255,
          88.2632258463525,
          1.7349082487299323,
          -0.0968330745921218,
          0.8532812273184434
        ],
        "eef_pose_r": [
          577.7911632030288,
          -211.63853964813933,
          -12.357524077489586,
          1.6293515645925485,
          0.016985361927059676,
          2.606184927139162
        ],
        "joint_status_l": {
          "velocity": [
            -1.8989902002011227,
            -3.909071211089632,
            1.1614141576201664,
            9.568721697659655,
            2.0831364402686403,
            -4.204961866470125,
            -2.296319138634928
          ],
          "torque": [
            -30.2783203125,
            3.57421875,
            -11.23046875,
            -0.018310546875,
            -1.0821533203125,
            -2.9937744140625,
            -0.64178466796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.181766323780753,
            2.439719326786438,
            0.14283557117467094,
            -4.45002677160522,
            0.2159259880809561,
            -2.0926055989196612,
            0.4058188070419355
          ],
          "torque": [
            29.01123046875,
            8.79638671875,
            12.554931640625,
            -5.13916015625,
            4.639892578125,
            0.6005859375,
            0.50811767578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.3,
            -9.8,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.6,
            -16.3,
            -9.8,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.6,
            -17.1,
            -0.4,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -17.1,
            -0.4,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -232,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -152,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35929854472476824,
          -0.3861862587835091,
          -0.10035752171576477,
          -1.2973509345749963,
          -0.029519901126043063,
          -0.5678670954280953,
          0.31991611324080665
        ],
        "act_joint_pos_r": [
          -0.47354394393993543,
          -1.0568831472529305,
          0.12996369556264875,
          -0.5083733346311801,
          0.055845182120854986,
          1.060356442918312,
          -0.43855448977140316
        ],
        "act_eef_pose_l": [
          493.9438875079824,
          376.5646907697837,
          82.56603144788782,
          1.738774617833911,
          -0.09581087869006925,
          0.8644629470339893
        ],
        "act_eef_pose_r": [
          571.4694644042034,
          -215.77874812687867,
          -16.342256653080085,
          1.6340092462456004,
          0.002084190126511636,
          2.600341841225986
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 151,
      "colors": {
        "rgb_main": "colors/000151_rgb_main.jpg",
        "rgb_wrist_0": "colors/000151_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000151_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000151_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.37410839539766627,
          -0.3393992563618504,
          -0.11300944749665784,
          -1.400946846158219,
          -0.036621778488081846,
          -0.5212568348048738,
          0.33004933022378025
        ],
        "joint_pos_r": [
          -0.4609141395425257,
          -1.0854939746135608,
          0.1282617990392348,
          -0.4569508399520727,
          0.05220108681316209,
          1.0871098550134275,
          -0.4414431721595338
        ],
        "eef_pose_l": [
          477.0652219672069,
          367.5238785672251,
          87.43100279019794,
          1.7355625606055918,
          -0.09676823696675894,
          0.8551389399785527
        ],
        "eef_pose_r": [
          576.8560725529288,
          -212.24132211617948,
          -12.989886695581504,
          1.630027477662535,
          0.014684560399371065,
          2.6054405488361705
        ],
        "joint_status_l": {
          "velocity": [
            -1.5994167003992033,
            -5.052847235775815,
            1.3663676854757112,
            11.188028477725709,
            0.7669801342303217,
            -5.033759684502037,
            -1.0943551578810329
          ],
          "torque": [
            -31.35498046875,
            2.7978515625,
            -11.3037109375,
            0.68359375,
            -0.9759521484375,
            -2.79052734375,
            -0.75897216796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.3639786465202697,
            3.089878223861753,
            0.18379940365509384,
            -5.553465634629884,
            0.39355068607377364,
            -2.889283291417577,
            0.31196849689951733
          ],
          "torque": [
            28.16162109375,
            8.64990234375,
            12.286376953125,
            -5.242919921875,
            4.87060546875,
            0.3094482421875,
            0.509033203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.8,
            -8.9,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.3,
            -16.8,
            -8.9,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.6,
            -16.5,
            -0.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.5,
            -0.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -225,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -110,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3592296972652231,
          -0.40224043885522975,
          -0.0974514546353481,
          -1.2774672132798597,
          -0.03251946627597327,
          -0.5771550669798305,
          0.32189383359244594
        ],
        "act_joint_pos_r": [
          -0.47511768414597544,
          -1.0525117397316237,
          0.13020969751027053,
          -0.5138231578497485,
          0.05863043368420495,
          1.057045142769862,
          -0.43684496376767357
        ],
        "act_eef_pose_l": [
          497.7286875079824,
          374.5662907697837,
          80.22443144788762,
          1.7380696587314581,
          -0.0922021464849046,
          0.8597886535394773
        ],
        "act_eef_pose_r": [
          571.0814644042035,
          -217.09314812687867,
          -16.46305665308023,
          1.6333435537039196,
          -0.0016293220617227251,
          2.597108758763605
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 152,
      "colors": {
        "rgb_main": "colors/000152_rgb_main.jpg",
        "rgb_wrist_0": "colors/000152_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000152_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000152_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.37166687708898355,
          -0.3486876536370526,
          -0.11064047735131412,
          -1.3819384230611935,
          -0.0357526153266774,
          -0.529843174249939,
          0.3285801909657959
        ],
        "joint_pos_r": [
          -0.463146952872813,
          -1.080355685091638,
          0.12856605152418932,
          -0.4659465260307845,
          0.05307719469848123,
          1.0823823596936062,
          -0.44079824789614624
        ],
        "eef_pose_l": [
          480.2896551735747,
          368.8755828781597,
          86.36006252131216,
          1.7359283599485038,
          -0.09617201019157216,
          0.8562550576798438
        ],
        "eef_pose_r": [
          575.9590002035773,
          -212.9645425817612,
          -13.57019255761142,
          1.6305884676044278,
          0.012247918130203178,
          2.604278541994612
        ],
        "joint_status_l": {
          "velocity": [
            -1.343175806113539,
            -5.783530227457145,
            1.4243724437047467,
            11.282557895126999,
            0.3491697992633047,
            -5.109533717186476,
            -0.7221052989643262
          ],
          "torque": [
            -30.10986328125,
            2.64404296875,
            -11.29150390625,
            -0.09765625,
            -1.04736328125,
            -2.5433349609375,
            -0.66009521484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.2928008483781284,
            3.0070574104650305,
            0.17750853116249576,
            -5.170523740001709,
            0.5997321223047414,
            -2.7363387237677728,
            0.4269420938909363
          ],
          "torque": [
            29.43603515625,
            8.04931640625,
            12.51220703125,
            -5.218505859375,
            5.1507568359375,
            1.007080078125,
            0.5072021484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.7,
            -7.4,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.8,
            -16.7,
            -7.4,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.5,
            0.2,
            1.2,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.5,
            0.2,
            1.2,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -257,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -124,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3573271284979243,
          -0.42034954639614547,
          -0.09407913168505505,
          -1.241122275273963,
          -0.03965460604660626,
          -0.6015685621420724,
          0.326335568210612
        ],
        "act_joint_pos_r": [
          -0.47906701181607136,
          -1.0473032497776884,
          0.13056461657064464,
          -0.5238336037344422,
          0.06526304983311304,
          1.0516545701177893,
          -0.43698505379027786
        ],
        "act_eef_pose_l": [
          502.6038875079824,
          375.46789076978365,
          78.7748314478877,
          1.7334649671022737,
          -0.08894625810321496,
          0.8554772252359422
        ],
        "act_eef_pose_r": [
          570.0734644042035,
          -217.74114812687867,
          -17.00145665308014,
          1.6302098850305402,
          -0.007537902682477013,
          2.593954962470262
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 153,
      "colors": {
        "rgb_main": "colors/000153_rgb_main.jpg",
        "rgb_wrist_0": "colors/000153_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000153_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000153_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3699889644749109,
          -0.3564887839112802,
          -0.10878240910540692,
          -1.3666607853228467,
          -0.03575978977277429,
          -0.5372241631500554,
          0.32799567297619664
        ],
        "joint_pos_r": [
          -0.4646142285312461,
          -1.0770600988046228,
          0.12876199163945756,
          -0.4716442655245969,
          0.053899431819048584,
          1.07936427015389,
          -0.4403562793684546
        ],
        "eef_pose_l": [
          482.8341005202232,
          369.7079371885447,
          85.46582402560065,
          1.7358788804490253,
          -0.09538829107277585,
          0.8564882963856925
        ],
        "eef_pose_r": [
          575.3958640957057,
          -213.45631624436987,
          -13.922726815681443,
          1.6307847848248846,
          0.01051559994079162,
          2.6033741083188224
        ],
        "joint_status_l": {
          "velocity": [
            -1.367437955087869,
            -6.896758939333392,
            1.5879071285807012,
            13.557759220546473,
            -0.4206277518214452,
            -6.9489901416286415,
            -0.1792860269245189
          ],
          "torque": [
            -30.908203125,
            -3.8671875,
            -10.33935546875,
            4.50439453125,
            -2.603759765625,
            -3.504638671875,
            -0.615234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.5608545598162493,
            3.2136449135187206,
            0.19467775085479921,
            -5.63628229340285,
            1.2272345501707083,
            -2.992559343079293,
            0.3640816244296907
          ],
          "torque": [
            29.47998046875,
            7.3095703125,
            12.945556640625,
            -6.38427734375,
            5.284423828125,
            1.0089111328125,
            0.560302734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.6,
            -17.0,
            -8.4,
            1.5,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.6,
            -17.0,
            -8.4,
            1.5,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -17.2,
            -0.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -17.2,
            -0.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -192,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -104,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3578183314311956,
          -0.4289447312924938,
          -0.09276570260711083,
          -1.226896349590786,
          -0.04979512696010034,
          -0.6096438526101527,
          0.33487308905605284
        ],
        "act_joint_pos_r": [
          -0.48141112207444214,
          -1.0450505789266118,
          0.13075939695561417,
          -0.5303807688151848,
          0.06676443506353946,
          1.0478514980357747,
          -0.4371381278161109
        ],
        "act_eef_pose_l": [
          504.9342875079824,
          375.31509076978364,
          78.28363144788777,
          1.7284574173270277,
          -0.08775953685843975,
          0.8549556025814193
        ],
        "act_eef_pose_r": [
          569.2966644042035,
          -217.3923481268787,
          -17.695856653080227,
          1.6299824295983045,
          -0.010080296846760123,
          2.5938153149950676
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 154,
      "colors": {
        "rgb_main": "colors/000154_rgb_main.jpg",
        "rgb_wrist_0": "colors/000154_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000154_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000154_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36763082457663077,
          -0.3691805637781764,
          -0.10590824395611483,
          -1.341903637956987,
          -0.037227203753641545,
          -0.5499698829522569,
          0.3282974218015322
        ],
        "joint_pos_r": [
          -0.4684868301647855,
          -1.0694111276826492,
          0.1292327039544279,
          -0.48538667743427916,
          0.05690123582672108,
          1.0720266024506038,
          -0.4395411616056813
        ],
        "eef_pose_l": [
          486.83879273145624,
          370.88505351962306,
          84.09872554204205,
          1.7350426886009485,
          -0.09389694999586218,
          0.856304906552508
        ],
        "eef_pose_r": [
          574.018131904333,
          -214.48643891084933,
          -14.793393931819452,
          1.6305502633586266,
          0.005764217428332557,
          2.601016976288781
        ],
        "joint_status_l": {
          "velocity": [
            -1.0597180049951582,
            -6.454339730971537,
            1.4193526041250681,
            12.420420822818912,
            -1.3572956750014242,
            -6.444598649775646,
            0.7101511187004306
          ],
          "torque": [
            -31.5673828125,
            3.5595703125,
            -10.14404296875,
            0.616455078125,
            -3.4735107421875,
            -2.8692626953125,
            0.296630859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.3957823598422792,
            2.630861672535012,
            0.16487798131192832,
            -4.859218554146949,
            1.0651941013556931,
            -2.6108342743613733,
            0.2595199951405114
          ],
          "torque": [
            28.9306640625,
            8.408203125,
            13.04931640625,
            -4.87060546875,
            5.203857421875,
            1.1846923828125,
            0.64178466796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.7,
            -6.1,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.7,
            -16.7,
            -6.1,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -17.4,
            -0.4,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -17.4,
            -0.4,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -291,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -112,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3568367535573477,
          -0.4439011987006761,
          -0.09047851856479115,
          -1.198926784640511,
          -0.05508609704686248,
          -0.6261278996291835,
          0.3392015004982923
        ],
        "act_joint_pos_r": [
          -0.48509841146648774,
          -1.0458617220357964,
          0.13088416823826995,
          -0.538498990265745,
          0.07157121029050195,
          1.0436879014273834,
          -0.43605792051426007
        ],
        "act_eef_pose_l": [
          508.97428750798235,
          375.75429076978367,
          76.96763144788774,
          1.7251545891862607,
          -0.08653479439938154,
          0.8527560952856889
        ],
        "act_eef_pose_r": [
          568.2166644042035,
          -214.7795481268787,
          -18.499856653080087,
          1.626258789367018,
          -0.017502108640220667,
          2.5961599801991264
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 155,
      "colors": {
        "rgb_main": "colors/000155_rgb_main.jpg",
        "rgb_wrist_0": "colors/000155_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000155_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000155_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36583885401560123,
          -0.3806164881400188,
          -0.10345162438298776,
          -1.319944077097127,
          -0.03975677537027191,
          -0.5614786268978961,
          0.32971157811295154
        ],
        "joint_pos_r": [
          -0.47027746882202875,
          -1.066376784236065,
          0.12943057873926175,
          -0.4914133554730714,
          0.05835526340957709,
          1.0687972039457716,
          -0.43919089867934846
        ],
        "eef_pose_l": [
          490.357115551756,
          371.7803415540298,
          82.92900452101807,
          1.7337246125690036,
          -0.09254169718949853,
          0.8559614370603991
        ],
        "eef_pose_r": [
          573.3918033744183,
          -214.74258624812597,
          -15.203432443927682,
          1.6302869126567392,
          0.0034637034782671796,
          2.6002084329981705
        ],
        "joint_status_l": {
          "velocity": [
            -0.9721981760391074,
            -6.834547166357119,
            1.4010541064831683,
            13.06948212154424,
            -1.655517914180893,
            -6.981915534387539,
            1.0248813903559473
          ],
          "torque": [
            -32.7978515625,
            -0.15380859375,
            -9.41162109375,
            3.436279296875,
            -4.1253662109375,
            -3.1146240234375,
            0.4852294921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.6006145979972075,
            2.2155613731396073,
            0.15698303592570628,
            -5.085098580642544,
            1.4272801677614466,
            -2.711724693941875,
            0.33835166268092465
          ],
          "torque": [
            28.85009765625,
            7.67578125,
            13.104248046875,
            -5.13916015625,
            5.401611328125,
            1.10595703125,
            0.66925048828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.5,
            -8.3,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.8,
            -16.5,
            -8.3,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.8,
            -0.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.8,
            -0.3,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -242,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -188,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3509943431907374,
          -0.45449723793260277,
          -0.08923683092315712,
          -1.1894361193339515,
          -0.04647582050044662,
          -0.6291459011412629,
          0.3328098616663214
        ],
        "act_joint_pos_r": [
          -0.4875233483567847,
          -1.0472696653390146,
          0.13096697004131777,
          -0.5461509629996912,
          0.0769523267629606,
          1.0429139588518452,
          -0.43676741365179583
        ],
        "act_eef_pose_l": [
          511.8134875079824,
          373.2494907697837,
          77.55403144788788,
          1.7256410392035235,
          -0.08881994234377147,
          0.8475182788711138
        ],
        "act_eef_pose_r": [
          566.9966644042034,
          -211.64914812687869,
          -18.243056653079975,
          1.6199320128608494,
          -0.022630466835902384,
          2.601594331490209
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 156,
      "colors": {
        "rgb_main": "colors/000156_rgb_main.jpg",
        "rgb_wrist_0": "colors/000156_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000156_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000156_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.36360742681731023,
          -0.39410602964574365,
          -0.1007534113312829,
          -1.2949251311849506,
          -0.04221844210348588,
          -0.5746961703783315,
          0.3311590022014709
        ],
        "joint_pos_r": [
          -0.4730044073832439,
          -1.0628113671025554,
          0.12969122114803772,
          -0.5000744654515457,
          0.06092822171370155,
          1.0643236867985668,
          -0.4386681133984874
        ],
        "eef_pose_l": [
          494.3973651029406,
          372.50219927495937,
          81.69940981880691,
          1.7320583122286115,
          -0.09129126245641817,
          0.854969924798731
        ],
        "eef_pose_r": [
          572.4449526923627,
          -214.61464871353007,
          -15.78691901307181,
          1.629259092582907,
          -0.00042359037417679285,
          2.5997232064064555
        ],
        "joint_status_l": {
          "velocity": [
            -1.3621728565289537,
            -6.522058137158115,
            1.243754001514219,
            11.392477276752189,
            -0.45978330628798636,
            -5.880397489343103,
            0.1782875638931536
          ],
          "torque": [
            -33.3251953125,
            3.0029296875,
            -10.07080078125,
            0.299072265625,
            -4.002685546875,
            -2.962646484375,
            0.40374755859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.5679993794726066,
            1.6784542870995622,
            0.13777681696425237,
            -4.976114972533363,
            1.7305523054080285,
            -2.312182424070386,
            0.20526951854193953
          ],
          "torque": [
            28.99658203125,
            6.30615234375,
            13.56201171875,
            -5.48095703125,
            5.595703125,
            0.9228515625,
            0.62347412109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.7,
            -7.4,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.8,
            -16.7,
            -7.4,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -18.0,
            0.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -18.0,
            0.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -188,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -160,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.346595154376081,
          -0.4643157727346559,
          -0.08788304519621087,
          -1.1679332953718635,
          -0.037668729910118305,
          -0.6422143167637582,
          0.3254202712154044
        ],
        "act_joint_pos_r": [
          -0.4871211416943732,
          -1.0534448848360107,
          0.1305757582811621,
          -0.5350555323797583,
          0.07570843938236081,
          1.0545125651690241,
          -0.4344774658876379
        ],
        "act_eef_pose_l": [
          514.7230875079824,
          374.21669076978367,
          77.22043144788772,
          1.7277915406176498,
          -0.09007960886317641,
          0.8448866380601925
        ],
        "act_eef_pose_r": [
          566.7470644042035,
          -210.32834812687867,
          -18.44065665308017,
          1.6179480029756317,
          -0.024745646608746598,
          2.6079815175026284
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 157,
      "colors": {
        "rgb_main": "colors/000157_rgb_main.jpg",
        "rgb_wrist_0": "colors/000157_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000157_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000157_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3612782587753482,
          -0.40460461559116395,
          -0.09878147102404614,
          -1.2763337051218822,
          -0.04240655711419514,
          -0.5844068550044844,
          0.3310009882843835
        ],
        "joint_pos_r": [
          -0.4759005633003989,
          -1.06004501879672,
          0.12992502072427853,
          -0.5086949630251604,
          0.06407813229630623,
          1.0606925236202083,
          -0.4381528445433348
        ],
        "eef_pose_l": [
          497.49574245454374,
          372.7640021047962,
          80.94882027954154,
          1.731073519311748,
          -0.09085580424861146,
          0.8536330240318666
        ],
        "eef_pose_r": [
          571.3537290743433,
          -213.939821142989,
          -16.304368645058048,
          1.6272458789761808,
          -0.004964796322077225,
          2.6004590486427177
        ],
        "joint_status_l": {
          "velocity": [
            -1.5857285065585813,
            -6.448614779770434,
            1.1769952757861857,
            11.706898976473923,
            0.5116702471330559,
            -6.243021741917154,
            -0.6026996677737095
          ],
          "torque": [
            -34.1015625,
            -0.60791015625,
            -9.442138671875,
            3.594970703125,
            -2.4481201171875,
            -2.8948974609375,
            0.47698974609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.2117867268099936,
            0.7127934450386064,
            0.07027758341682233,
            -2.8468575267215357,
            1.2560361204886905,
            -0.6674158283503928,
            0.39692918801481625
          ],
          "torque": [
            29.384765625,
            6.8701171875,
            13.427734375,
            -4.534912109375,
            5.57373046875,
            1.7431640625,
            0.69305419921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.1,
            -7.4,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.3,
            -16.1,
            -7.4,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.3,
            -0.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.3,
            -0.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -244,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -160,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3435035781329948,
          -0.47073696380063945,
          -0.08718052492920317,
          -1.1595044600013749,
          -0.03023628361916494,
          -0.6456707632209577,
          0.3194107106652883
        ],
        "act_joint_pos_r": [
          -0.48545540282220756,
          -1.0578944622550148,
          0.13034634750581064,
          -0.5301052977289022,
          0.07554522322665624,
          1.0584473609131142,
          -0.4329830958989251
        ],
        "act_eef_pose_l": [
          516.4646875079824,
          373.4366907697837,
          77.0524314478876,
          1.7299785104304992,
          -0.09095060958879357,
          0.8423432441862061
        ],
        "act_eef_pose_r": [
          567.1718644042035,
          -208.8307481268787,
          -17.73585665308019,
          1.6159262689265181,
          -0.02541442084153782,
          2.6110931417339525
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 158,
      "colors": {
        "rgb_main": "colors/000158_rgb_main.jpg",
        "rgb_wrist_0": "colors/000158_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000158_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000158_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3585569206314305,
          -0.41505953642326826,
          -0.09691994432392713,
          -1.2576748074846376,
          -0.04088841063981997,
          -0.5942539282698438,
          0.3294858022659883
        ],
        "joint_pos_r": [
          -0.4774381089132066,
          -1.059485729011864,
          0.13000098109869684,
          -0.5122039918362276,
          0.06582732143808807,
          1.0601458115494518,
          -0.4374463023084682
        ],
        "eef_pose_l": [
          500.56994463734424,
          373.0071560753471,
          80.27641443025044,
          1.730632071370189,
          -0.09076333888981264,
          0.8519915211870762
        ],
        "eef_pose_r": [
          570.7024918464542,
          -213.23854294449347,
          -16.564523413311775,
          1.6256395730813555,
          -0.008023009535623205,
          2.601901506767139
        ],
        "joint_status_l": {
          "velocity": [
            -1.6257130419878862,
            -6.012984813248856,
            1.0518262726725292,
            10.60208483641567,
            1.1503957891206285,
            -5.552854402033347,
            -1.0880778017363646
          ],
          "torque": [
            -34.15283203125,
            3.837890625,
            -9.8876953125,
            1.26953125,
            -1.7724609375,
            -2.5909423828125,
            -0.53558349609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.8658422055209947,
            0.1718517412436782,
            0.03729847190869773,
            -1.9332840172445742,
            1.0495024397454422,
            -0.1834272588272512,
            0.48201207604492424
          ],
          "torque": [
            28.63037109375,
            8.5107421875,
            9.47265625,
            -6.28662109375,
            5.6304931640625,
            1.3458251953125,
            0.66650390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.7,
            -8.1,
            1.5,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.1,
            -16.7,
            -8.1,
            1.5,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.6,
            0.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.6,
            0.1,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -217,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -162,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3426897926506237,
          -0.47230745496835697,
          -0.08714483352109657,
          -1.1565169994800566,
          -0.027443954556607218,
          -0.6471910750455693,
          0.31702630078367083
        ],
        "act_joint_pos_r": [
          -0.4849535684267088,
          -1.0596829598546094,
          0.13030106161534807,
          -0.5310537828458847,
          0.07719996803162842,
          1.0589944900372672,
          -0.43337531237268695
        ],
        "act_eef_pose_l": [
          516.9230875079824,
          373.4926907697837,
          76.96203144788778,
          1.7309583333968803,
          -0.09112652868641703,
          0.8418401125627945
        ],
        "act_eef_pose_r": [
          567.1486644042035,
          -207.4267481268787,
          -17.03505665308012,
          1.613070827272839,
          -0.02591735649135517,
          2.6134601819519934
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 159,
      "colors": {
        "rgb_main": "colors/000159_rgb_main.jpg",
        "rgb_wrist_0": "colors/000159_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000159_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000159_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.35560872609192984,
          -0.42578255065733,
          -0.09507433503726531,
          -1.2387404868425476,
          -0.03852286956012943,
          -0.604165208869612,
          0.3272807489520362
        ],
        "joint_pos_r": [
          -0.47880571881765877,
          -1.0593822729479783,
          0.13005754041268514,
          -0.5154634344785922,
          0.06771011770019855,
          1.059899931507398,
          -0.4366961817842619
        ],
        "eef_pose_l": [
          503.6930739984172,
          373.16757319950057,
          79.62088680588155,
          1.7305009141884717,
          -0.09079661107740024,
          0.8501485807881273
        ],
        "eef_pose_r": [
          570.0812034019986,
          -212.31455646277857,
          -16.70701149219221,
          1.623646403267212,
          -0.01114083581832575,
          2.6037513121372506
        ],
        "joint_status_l": {
          "velocity": [
            -1.3952036623288144,
            -5.024541474661248,
            0.8563609067314681,
            8.87987473724472,
            1.1964875318670187,
            -4.646656501195778,
            -1.1074477397587934
          ],
          "torque": [
            -33.78662109375,
            3.91845703125,
            -9.686279296875,
            1.86767578125,
            -1.6461181640625,
            -2.4554443359375,
            -0.6134033203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.6639481756725019,
            -0.032473228169571655,
            0.026299514224836784,
            -1.683707965355108,
            1.0248736087630772,
            -0.09778479476629798,
            0.35864331883095346
          ],
          "torque": [
            29.091796875,
            4.22607421875,
            10.33935546875,
            -5.401611328125,
            5.4766845703125,
            1.2451171875,
            0.70587158203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.7,
            -7.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.0,
            -16.7,
            -7.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.1,
            -0.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.1,
            -0.3,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -284,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -175,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3391589736280017,
          -0.47993532347259416,
          -0.08603341958151668,
          -1.1363777639148909,
          -0.017691515401197455,
          -0.6605741439204648,
          0.3069218098801842
        ],
        "act_joint_pos_r": [
          -0.4843718211281649,
          -1.0601022655811916,
          0.13037708004399393,
          -0.5367320517276912,
          0.08107852241330216,
          1.05888944724136,
          -0.43489326573011994
        ],
        "act_eef_pose_l": [
          519.1086875079824,
          375.0238907697837,
          76.34363144788772,
          1.7345882191273543,
          -0.08997700258719604,
          0.8397903304296152
        ],
        "act_eef_pose_r": [
          566.7206644042035,
          -205.46514812687866,
          -15.456656653080017,
          1.607239042197752,
          -0.026427725926339782,
          2.617492148278724
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 160,
      "colors": {
        "rgb_main": "colors/000160_rgb_main.jpg",
        "rgb_wrist_0": "colors/000160_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000160_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000160_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3530864860968776,
          -0.43429177816649184,
          -0.0936453468818848,
          -1.2229507607839536,
          -0.03560105483360313,
          -0.6127486438863499,
          0.3244547462149499
        ],
        "joint_pos_r": [
          -0.4797585330087187,
          -1.0594734108022559,
          0.1301051353511199,
          -0.5185912052076888,
          0.06965598603522866,
          1.0597406330494012,
          -0.4363012298790492
        ],
        "eef_pose_l": [
          506.1681934314252,
          373.4463075972359,
          79.09277336873956,
          1.730841280397886,
          -0.09073729371290197,
          0.8485844184860378
        ],
        "eef_pose_r": [
          569.5626564358814,
          -211.30975067256617,
          -16.608527736208202,
          1.6213346839024305,
          -0.013615788181835502,
          2.605736859662106
        ],
        "joint_status_l": {
          "velocity": [
            -1.5041269847846372,
            -4.929357509430243,
            0.8220639029610233,
            9.349607909914681,
            1.9341732133101863,
            -5.165001670102143,
            -1.8935012783201088
          ],
          "torque": [
            -34.4677734375,
            2.18994140625,
            -9.307861328125,
            0.286865234375,
            -1.2469482421875,
            -2.984619140625,
            -0.65460205078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.4982204226742226,
            -0.06791431309860485,
            0.02936916063323025,
            -1.9591536420118238,
            1.2335975458171444,
            -0.09192535607560615,
            0.1520556434426723
          ],
          "torque": [
            28.80615234375,
            2.6953125,
            11.053466796875,
            -6.390380859375,
            5.2825927734375,
            1.4080810546875,
            0.7049560546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -16.5,
            -9.5,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.1,
            -16.5,
            -9.5,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.3,
            0.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.3,
            0.1,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -278,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -202,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.337594071273452,
          -0.48086217952968147,
          -0.08584857442302575,
          -1.1274333515237043,
          -0.014938542621938564,
          -0.6659236519429333,
          0.30351250590962586
        ],
        "act_joint_pos_r": [
          -0.4843969668564254,
          -1.0628531518063242,
          0.13028201666048841,
          -0.5366872216255255,
          0.08367183800503186,
          1.060866147377144,
          -0.43607901019276923
        ],
        "act_eef_pose_l": [
          519.8718875079824,
          377.13269076978366,
          76.4724314478879,
          1.7356933649878517,
          -0.09008887471559396,
          0.842110099837207
        ],
        "act_eef_pose_r": [
          566.5358644042035,
          -203.69954812687868,
          -14.886256653080181,
          1.6033379927810183,
          -0.027197208209267642,
          2.620786121515075
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 161,
      "colors": {
        "rgb_main": "colors/000161_rgb_main.jpg",
        "rgb_wrist_0": "colors/000161_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000161_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000161_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3512184848708832,
          -0.44011068404213466,
          -0.0926727510773718,
          -1.211395775330256,
          -0.03314556977892357,
          -0.6191614043823517,
          0.32199939870261424
        ],
        "joint_pos_r": [
          -0.48027985100522597,
          -1.0596254953996422,
          0.13013301896603555,
          -0.5206369475194382,
          0.07102141342528066,
          1.059702875161791,
          -0.436177318494718
        ],
        "eef_pose_l": [
          507.89457506226114,
          373.82967621159224,
          78.74275671907492,
          1.7312807052993004,
          -0.09067613103008314,
          0.8476636682660418
        ],
        "eef_pose_r": [
          569.2409324855118,
          -210.59350306864994,
          -16.46476830322939,
          1.6196337086333548,
          -0.015082065239304788,
          2.6071529250226617
        ],
        "joint_status_l": {
          "velocity": [
            -1.4713932720979983,
            -4.401031711162684,
            0.736989342330685,
            9.067674334350073,
            1.966300940008131,
            -5.050173789628687,
            -1.996525537269811
          ],
          "torque": [
            -34.15283203125,
            4.51904296875,
            -9.564208984375,
            1.1474609375,
            -1.32568359375,
            -2.288818359375,
            -0.648193359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.44463539810957187,
            -0.34857661120302197,
            0.01609127641410968,
            -1.7333784801918384,
            1.3662055605339063,
            0.12562969400775614,
            0.010616983479483366
          ],
          "torque": [
            29.091796875,
            3.09814453125,
            11.6943359375,
            -6.182861328125,
            5.343017578125,
            1.314697265625,
            0.6646728515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.7,
            -7.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.0,
            -16.7,
            -7.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.2,
            -0.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.2,
            -0.4,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -227,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -160,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33716816647274034,
          -0.4811973891930958,
          -0.08586479766825834,
          -1.1263095026714456,
          -0.013919759535704035,
          -0.6656417828334271,
          0.3032067725321447
        ],
        "act_joint_pos_r": [
          -0.484399287112276,
          -1.068027341941158,
          0.12995189678753388,
          -0.5267537225468137,
          0.0846603926698557,
          1.0687679292986465,
          -0.4354698378328541
        ],
        "act_eef_pose_l": [
          520.1318875079824,
          377.42389076978367,
          76.49083144788783,
          1.7361963336364772,
          -0.09098220192314896,
          0.84289618819518
        ],
        "act_eef_pose_r": [
          566.7494644042035,
          -203.0467481268787,
          -15.140656653080214,
          1.601304242088031,
          -0.02868821380327729,
          2.623192852566442
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 162,
      "colors": {
        "rgb_main": "colors/000162_rgb_main.jpg",
        "rgb_wrist_0": "colors/000162_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000162_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000162_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.34877299480716606,
          -0.4473446808112659,
          -0.0914675726214769,
          -1.196453990206912,
          -0.029838915251374023,
          -0.627405154310122,
          0.31870450246418447
        ],
        "joint_pos_r": [
          -0.4811079048016063,
          -1.0606475939129054,
          0.13013917781204046,
          -0.5231481796588991,
          0.07363648908296228,
          1.0605065229918877,
          -0.43611362786678903
        ],
        "eef_pose_l": [
          510.08092858514135,
          374.47193941403293,
          78.32903461029088,
          1.731977502158632,
          -0.09068607355526957,
          0.8467689142286777
        ],
        "eef_pose_r": [
          568.7192563560593,
          -209.15119469043935,
          -16.17113444246931,
          1.6162231654721062,
          -0.017631093701899057,
          2.6100565202491035
        ],
        "joint_status_l": {
          "velocity": [
            -1.253284496467888,
            -3.655984677733315,
            0.6050818490124232,
            7.575381229905531,
            1.7192181116645888,
            -4.129434089368722,
            -1.6737054693560793
          ],
          "torque": [
            -34.29931640625,
            4.22607421875,
            -10.186767578125,
            0.494384765625,
            -1.1553955078125,
            -2.655029296875,
            -0.62713623046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.35545880585496903,
            -0.7969892811079404,
            -0.020225754120084538,
            -0.38938714753466996,
            1.1905464740931126,
            0.8922055669327023,
            0.06952727306774875
          ],
          "torque": [
            27.70751953125,
            2.68798828125,
            12.59765625,
            -5.206298828125,
            5.5865478515625,
            2.9736328125,
            0.567626953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -17.0,
            -8.2,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.8,
            -17.0,
            -8.2,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.4,
            -0.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.4,
            -0.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -194,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -167,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33359082766903175,
          -0.4859849763860339,
          -0.08521633511446969,
          -1.1159579835158557,
          -0.012218337445657755,
          -0.6706754263903137,
          0.30330218049214075
        ],
        "act_joint_pos_r": [
          -0.48429451265286527,
          -1.0707665996771096,
          0.12981018590212587,
          -0.5235131924205146,
          0.08430323256511008,
          1.0704313300626254,
          -0.43485193408426104
        ],
        "act_eef_pose_l": [
          521.9294875079825,
          378.04709076978367,
          77.33723144788773,
          1.7351555338133153,
          -0.09429363941866868,
          0.8430625951541505
        ],
        "act_eef_pose_r": [
          566.9102644042035,
          -202.24914812687868,
          -15.351856653079949,
          1.6011361227259215,
          -0.029397200362279417,
          2.6243556264142143
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 163,
      "colors": {
        "rgb_main": "colors/000163_rgb_main.jpg",
        "rgb_wrist_0": "colors/000163_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000163_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000163_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3461815160578826,
          -0.45449711533994425,
          -0.09029418842431775,
          -1.181602687003141,
          -0.026515150773969782,
          -0.6354568665331625,
          0.31559503459619176
        ],
        "joint_pos_r": [
          -0.481763661003062,
          -1.062290721521781,
          0.13009328378819593,
          -0.5236848904663893,
          0.0758324662271203,
          1.0622644202374196,
          -0.43594826567836753
        ],
        "eef_pose_l": [
          512.270868604732,
          375.1382422936479,
          78.00676450292974,
          1.7326452104639651,
          -0.0910171879979301,
          0.8460175514231606
        ],
        "eef_pose_r": [
          568.3366239085964,
          -207.8706686062116,
          -15.980511109830331,
          1.6132278590755937,
          -0.019908308157458282,
          2.612757297690727
        ],
        "joint_status_l": {
          "velocity": [
            -1.3597542421885933,
            -3.4005886979753264,
            0.5483919835066464,
            7.089418885394494,
            1.5440103013080464,
            -3.8034922865639587,
            -1.3275890880901642
          ],
          "torque": [
            -34.7607421875,
            3.0322265625,
            -10.662841796875,
            0.482177734375,
            -1.41357421875,
            -2.80517578125,
            -0.5035400390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.27332391692080904,
            -0.9153678434428159,
            -0.030573669973388284,
            0.01854284206270762,
            0.9148157834536486,
            0.8820002479144051,
            0.11840032013266111
          ],
          "torque": [
            28.330078125,
            -0.087890625,
            13.09814453125,
            -4.632568359375,
            5.3558349609375,
            3.4588623046875,
            0.63720703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.7,
            -6.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.7,
            -6.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.2,
            -0.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.2,
            -0.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -244,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -187,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33261632603091823,
          -0.48682244650992024,
          -0.08516391494975473,
          -1.1146879484437118,
          -0.014658677215862226,
          -0.6710923038261585,
          0.30610883473319134
        ],
        "act_joint_pos_r": [
          -0.48391754851543434,
          -1.071978416802929,
          0.12974564298863855,
          -0.5219127066914379,
          0.08380789041401604,
          1.0717009327972642,
          -0.43473638313718566
        ],
        "act_eef_pose_l": [
          522.3742875079824,
          378.0374907697837,
          78.03403144788767,
          1.7329811660160945,
          -0.09582336147213874,
          0.8434593344553738
        ],
        "act_eef_pose_r": [
          566.9758644042034,
          -201.8891481268787,
          -15.281456653080113,
          1.6009947043858304,
          -0.0291055291457256,
          2.6253408066369146
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 164,
      "colors": {
        "rgb_main": "colors/000164_rgb_main.jpg",
        "rgb_wrist_0": "colors/000164_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000164_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000164_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3440829278309206,
          -0.45969826960111115,
          -0.08945786716600611,
          -1.17077355092466,
          -0.024236786261083484,
          -0.641258927121886,
          0.3136569141430068
        ],
        "joint_pos_r": [
          -0.482168604646506,
          -1.063719852502443,
          0.13004484046393042,
          -0.5236094662416027,
          0.07721041320962022,
          1.0636444623466315,
          -0.43576462631283186
        ],
        "eef_pose_l": [
          513.89820947655,
          375.63498361194127,
          77.90545342783074,
          1.7329268744323942,
          -0.0916208833430296,
          0.8455535604059534
        ],
        "eef_pose_r": [
          568.1069391244164,
          -206.93226670380625,
          -15.877843005048192,
          1.611244918608965,
          -0.021468420836681323,
          2.6146878779040077
        ],
        "joint_status_l": {
          "velocity": [
            -1.2383564710285455,
            -2.9293247103372444,
            0.4637331622766583,
            6.057066424318691,
            1.0344052687312755,
            -3.221909658915223,
            -0.8151685341490911
          ],
          "torque": [
            -34.46044921875,
            2.54150390625,
            -11.21826171875,
            0.69580078125,
            -1.4813232421875,
            -2.4114990234375,
            -0.574951171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.188880367115285,
            -0.8918986393071648,
            -0.032312374328991034,
            0.18324462690655352,
            0.7125065238181572,
            0.8700731472321976,
            0.11104698781405631
          ],
          "torque": [
            28.6376953125,
            -1.3916015625,
            13.177490234375,
            -4.2236328125,
            5.4180908203125,
            3.3673095703125,
            0.6610107421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -16.7,
            -7.7,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.7,
            -7.7,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.5,
            -0.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.5,
            -0.4,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -249,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -171,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3313783711777179,
          -0.48756164071663155,
          -0.0851112171263356,
          -1.1139140148797826,
          -0.014152129120261965,
          -0.6720748084454592,
          0.3070003233872511
        ],
        "act_joint_pos_r": [
          -0.48290451884354013,
          -1.0741245579462293,
          0.1295287148992544,
          -0.5124171764461131,
          0.08172967443417135,
          1.0788914886784977,
          -0.4348390332371831
        ],
        "act_eef_pose_l": [
          522.6118875079824,
          377.78149076978366,
          78.56283144788772,
          1.7322183516988752,
          -0.09768337253259772,
          0.8423548517882853
        ],
        "act_eef_pose_r": [
          567.3094644042035,
          -202.90594812687868,
          -15.459056653080097,
          1.6021403712893927,
          -0.026896695748173476,
          2.625968786367193
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 165,
      "colors": {
        "rgb_main": "colors/000165_rgb_main.jpg",
        "rgb_wrist_0": "colors/000165_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000165_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000165_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.34191584191235785,
          -0.4645774648724014,
          -0.08869271374380365,
          -1.1607698120467949,
          -0.02248613574161634,
          -0.6466445875271144,
          0.3124229483434388
        ],
        "joint_pos_r": [
          -0.48238490675865325,
          -1.0655232040008993,
          0.1299638022690758,
          -0.522217213330607,
          0.0782230692708949,
          1.065978836615018,
          -0.43558183355343866
        ],
        "eef_pose_l": [
          515.4441129195147,
          376.0464082250572,
          77.97552167280443,
          1.7328045628053366,
          -0.0925833443083009,
          0.8450663974287647
        ],
        "eef_pose_r": [
          567.9336738865333,
          -206.09134179198654,
          -15.787562730321014,
          1.6094436714913805,
          -0.02267369782667752,
          2.6167693268379932
        ],
        "joint_status_l": {
          "velocity": [
            -1.1380132754337247,
            -2.482217782076468,
            0.38679022691867626,
            5.060276849148337,
            0.9000461696634654,
            -2.7463828589482375,
            -0.5856262231458409
          ],
          "torque": [
            -34.72412109375,
            1.11328125,
            -10.638427734375,
            0.72021484375,
            -1.3714599609375,
            -2.3748779296875,
            -0.574951171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.05611645010139554,
            -0.928918829099068,
            -0.04698805010228124,
            1.0583727684894129,
            0.3787021884098518,
            1.3945252935307906,
            0.08022006819174976
          ],
          "torque": [
            28.8134765625,
            0.97412109375,
            13.092041015625,
            -1.715087890625,
            5.3778076171875,
            3.0706787109375,
            0.6170654296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.5,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.5,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.2,
            -0.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.2,
            -0.8,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -230,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -160,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33198459799237257,
          -0.48802784416206885,
          -0.08501406681194897,
          -1.110331214544103,
          -0.015079118956797817,
          -0.6776937273144186,
          0.3078629704944674
        ],
        "act_joint_pos_r": [
          -0.4832936327569235,
          -1.0700962998513006,
          0.12953868646230352,
          -0.5048425649475673,
          0.07610613200643979,
          1.0712474743153164,
          -0.4382875370145704
        ],
        "act_eef_pose_l": [
          522.3758875079825,
          378.0510907697837,
          78.35323144788781,
          1.7316289344936089,
          -0.09702981717870782,
          0.8400890444642817
        ],
        "act_eef_pose_r": [
          569.2062644042035,
          -208.3651481268787,
          -18.118256653080152,
          1.614864676105773,
          -0.019212292171604587,
          2.6108135094429805
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 166,
      "colors": {
        "rgb_main": "colors/000166_rgb_main.jpg",
        "rgb_wrist_0": "colors/000166_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000166_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000166_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3401211368434499,
          -0.46869386810230573,
          -0.08804851231648538,
          -1.1520810198864277,
          -0.021117217457431527,
          -0.6517749190461184,
          0.31156152619836097
        ],
        "joint_pos_r": [
          -0.4825024846143235,
          -1.066428175758387,
          0.12989874996769232,
          -0.5199762056153437,
          0.07819600791675015,
          1.0671786003125947,
          -0.4358120862428344
        ],
        "eef_pose_l": [
          516.4974838880105,
          376.2591112790937,
          77.8613245335842,
          1.7330405787223102,
          -0.0931900925448703,
          0.8445829616670392
        ],
        "eef_pose_r": [
          568.0305202023255,
          -206.1499690786935,
          -16.003281845435993,
          1.6096009941432463,
          -0.022553696744942595,
          2.6166554147673415
        ],
        "joint_status_l": {
          "velocity": [
            -0.8787202794473536,
            -2.0880078319551743,
            0.32771044918689096,
            4.5088459956676985,
            0.6520954055425077,
            -2.7991487364973366,
            -0.399432235396624
          ],
          "torque": [
            -34.833984375,
            3.3251953125,
            -10.5712890625,
            0.433349609375,
            -1.3348388671875,
            -2.57080078125,
            -0.560302734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.08544147943911895,
            -0.39614571834079015,
            -0.038885711709291115,
            1.634384988511428,
            -0.22569994164967078,
            0.4394254321331559,
            -0.2673407985520626
          ],
          "torque": [
            28.154296875,
            1.77978515625,
            12.677001953125,
            -1.031494140625,
            3.446044921875,
            3.0450439453125,
            -0.25543212890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.4,
            -8.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.4,
            -8.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.2,
            -0.7,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.2,
            -0.7,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -246,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -171,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33307487976251055,
          -0.485987022131932,
          -0.08534100448218014,
          -1.1146099466678285,
          -0.016889526575387146,
          -0.6748235563314551,
          0.30939810340195856
        ],
        "act_joint_pos_r": [
          -0.4842355781191414,
          -1.0669738492095684,
          0.12951373525463858,
          -0.49717617589360447,
          0.0748283888464578,
          1.066199014749163,
          -0.4365943525505291
        ],
        "act_eef_pose_l": [
          521.8238875079824,
          377.95989076978367,
          78.33083144788775,
          1.7312211743865127,
          -0.09680186931392287,
          0.8409576790231714
        ],
        "act_eef_pose_r": [
          570.8174644042035,
          -213.25154812687867,
          -20.15425665308021,
          1.622972799736829,
          -0.019314994971135997,
          2.5968683008055926
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 167,
      "colors": {
        "rgb_main": "colors/000167_rgb_main.jpg",
        "rgb_wrist_0": "colors/000167_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000167_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000167_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3389065582757333,
          -0.47164199147920327,
          -0.08758655619699265,
          -1.1457003708091151,
          -0.02032887373074655,
          -0.6557119720511696,
          0.31112672962098287
        ],
        "joint_pos_r": [
          -0.4827360570436008,
          -1.0667661557495127,
          0.12983260593596002,
          -0.5165379117748645,
          0.07769940930369619,
          1.0673958653885782,
          -0.4360813538142324
        ],
        "eef_pose_l": [
          517.5811662934277,
          376.6628455325009,
          78.08990607799944,
          1.7323770765372548,
          -0.09398751031826688,
          0.8437406960193334
        ],
        "eef_pose_r": [
          568.407041767094,
          -207.02320904303727,
          -16.582142317089506,
          1.6113369629051941,
          -0.021983127198749577,
          2.6142306571750704
        ],
        "joint_status_l": {
          "velocity": [
            -0.629802704390503,
            -1.5492176187628104,
            0.24251243267792155,
            3.3576667781716196,
            0.3714385377847351,
            -2.0639902281329725,
            -0.18668612564187725
          ],
          "torque": [
            -35.45654296875,
            4.02099609375,
            -10.675048828125,
            0.64697265625,
            -1.42822265625,
            -2.413330078125,
            -0.5291748046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.1619434998900715,
            -0.022430232141879003,
            -0.034437017917277046,
            2.091005804256252,
            -0.31006106461950456,
            -0.12925605685332187,
            -0.05540222951827545
          ],
          "torque": [
            27.626953125,
            4.28466796875,
            11.8408203125,
            -1.055908203125,
            3.050537109375,
            1.688232421875,
            -0.35247802734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.8,
            -7.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.8,
            -7.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.1,
            -0.5,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.1,
            -0.5,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -282,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -196,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.332741760880729,
          -0.48695239878189805,
          -0.08519477445352237,
          -1.1119246161059269,
          -0.016868068522109324,
          -0.6765807891540436,
          0.30928009913345506
        ],
        "act_joint_pos_r": [
          -0.4851418791528092,
          -1.0640729559389048,
          0.12971954641977523,
          -0.5041576830602168,
          0.07647953006299789,
          1.0599041736286259,
          -0.438376737921255
        ],
        "act_eef_pose_l": [
          522.1230875079824,
          378.20309076978367,
          78.3356314478879,
          1.7310753175307763,
          -0.09682079456711486,
          0.8409488301115212
        ],
        "act_eef_pose_r": [
          570.7382644042035,
          -213.42114812687868,
          -20.19265665308012,
          1.623051938305572,
          -0.01887471958700356,
          2.5943187611195846
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 168,
      "colors": {
        "rgb_main": "colors/000168_rgb_main.jpg",
        "rgb_wrist_0": "colors/000168_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000168_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000168_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.33814762168472123,
          -0.4735193822118614,
          -0.08729302447431928,
          -1.1415886851586565,
          -0.019893894134925233,
          -0.6582471462690963,
          0.3109003768633278
        ],
        "joint_pos_r": [
          -0.4831337357397739,
          -1.0664398419647658,
          0.12979826423009974,
          -0.513757647296205,
          0.07736475963306451,
          1.0663763295556048,
          -0.4364029488610477
        ],
        "eef_pose_l": [
          518.1428768906741,
          376.847287749985,
          78.11764712382958,
          1.732212295308743,
          -0.09434391898367692,
          0.8433912500769788
        ],
        "eef_pose_r": [
          568.861622080843,
          -208.21546589076482,
          -17.26446889603443,
          1.6135454525011401,
          -0.021440232106883,
          2.6106215384965026
        ],
        "joint_status_l": {
          "velocity": [
            -0.5838157481061756,
            -1.4507230027760443,
            0.22660431890897392,
            3.2036249718263576,
            0.3267795283371233,
            -1.9799750353319823,
            -0.17498483392452968
          ],
          "torque": [
            -36.56982421875,
            3.046875,
            -10.662841796875,
            0.762939453125,
            -1.36962890625,
            -2.574462890625,
            -0.574951171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.21687309227758078,
            0.2556161517981437,
            -0.00850127278340107,
            1.0367655597209868,
            -0.09560197393776448,
            -0.6989722250301256,
            -0.21316293159756583
          ],
          "torque": [
            27.890625,
            6.32080078125,
            11.0595703125,
            -0.640869140625,
            2.9827880859375,
            1.3641357421875,
            -0.4083251953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.8,
            -7.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.8,
            -7.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.2,
            -0.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.2,
            -0.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -215,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -202,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3278507796285982,
          -0.4951281538757236,
          -0.08410387562435713,
          -1.098853089162676,
          -0.0074861195120095436,
          -0.6882914640075352,
          0.30140096406387457
        ],
        "act_joint_pos_r": [
          -0.48596494639611315,
          -1.0642540479435243,
          0.129747401237769,
          -0.5062491599983417,
          0.07677206413101166,
          1.0564030240895703,
          -0.44190217436978746
        ],
        "act_eef_pose_l": [
          523.7942875079824,
          376.9486907697837,
          78.73003144788781,
          1.7326525172796814,
          -0.0972769933065347,
          0.8331146638849193
        ],
        "act_eef_pose_r": [
          570.7982644042035,
          -212.97474812687867,
          -20.699056653080106,
          1.6238469822192678,
          -0.016311923340311042,
          2.593278383704489
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 169,
      "colors": {
        "rgb_main": "colors/000169_rgb_main.jpg",
        "rgb_wrist_0": "colors/000169_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000169_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000169_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3368391717472256,
          -0.47648393871051875,
          -0.08684338051762189,
          -1.1354013484160423,
          -0.0186824478001601,
          -0.6623330485953455,
          0.3100457987235297
        ],
        "joint_pos_r": [
          -0.48355674238304236,
          -1.0660711718736045,
          0.1297884666055027,
          -0.512415466109609,
          0.0772522423903275,
          1.0649172577064643,
          -0.4371252507796881
        ],
        "eef_pose_l": [
          518.9762015932353,
          377.00211295415966,
          78.18159114445731,
          1.7320971405750238,
          -0.09482205647087734,
          0.8423982511667073
        ],
        "eef_pose_r": [
          569.181901913666,
          -209.0164050699332,
          -17.80365284937318,
          1.6151959063177845,
          -0.020742166352734154,
          2.6078168355107634
        ],
        "joint_status_l": {
          "velocity": [
            -0.9707177190230176,
            -2.013515852366421,
            0.2958578026132086,
            3.9470955860032575,
            1.2091677926225342,
            -2.803426181881008,
            -0.9336146077520979
          ],
          "torque": [
            -36.123046875,
            3.52294921875,
            -9.991455078125,
            1.01318359375,
            -1.25244140625,
            -2.63671875,
            -0.71502685546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2600783628099457,
            0.19624359655345813,
            -0.0044349289141099035,
            0.6659414191245716,
            -0.051857722544346174,
            -0.9195101111236781,
            -0.5158925322934493
          ],
          "torque": [
            28.83544921875,
            6.81884765625,
            10.595703125,
            -0.9521484375,
            3.695068359375,
            1.0089111328125,
            -0.4833984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.6,
            -6.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.6,
            -6.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.0,
            -1.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.0,
            -1.1,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -190,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -167,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32618962659802675,
          -0.4978832134517432,
          -0.08374222602471858,
          -1.0939008817478388,
          -0.005195438270049013,
          -0.6939680618116147,
          0.29999562401179036
        ],
        "act_joint_pos_r": [
          -0.48671717715629675,
          -1.0623983323610444,
          0.12978965957976876,
          -0.5052085276663485,
          0.07663760020957522,
          1.0573848555664471,
          -0.44263036539202955
        ],
        "act_eef_pose_l": [
          524.2334875079824,
          376.4758907697837,
          79.0204314478879,
          1.7324361766919771,
          -0.09784234844825822,
          0.8294262379638662
        ],
        "act_eef_pose_r": [
          570.6310644042035,
          -214.36434812687867,
          -21.171056653080086,
          1.6250350234093618,
          -0.015638308130355116,
          2.5916327009593356
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 170,
      "colors": {
        "rgb_main": "colors/000170_rgb_main.jpg",
        "rgb_wrist_0": "colors/000170_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000170_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000170_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3351301764172761,
          -0.47997903730612956,
          -0.08633293745302299,
          -1.128582246105632,
          -0.01653768070855585,
          -0.6673320072996671,
          0.3084159918036571
        ],
        "joint_pos_r": [
          -0.48415517883322756,
          -1.0654240886510824,
          0.1297866236220044,
          -0.5110175571704901,
          0.07713527521855719,
          1.0633542179659576,
          -0.43819634994070883
        ],
        "eef_pose_l": [
          519.8711582209205,
          376.9650757716478,
          78.29783868051098,
          1.732130569073056,
          -0.09531255024127681,
          0.8404961283089883
        ],
        "eef_pose_r": [
          569.4871354896451,
          -210.01885400884092,
          -18.4583420753724,
          1.6171128136816815,
          -0.019762606667952425,
          2.6046342624815564
        ],
        "joint_status_l": {
          "velocity": [
            -0.9655509030772613,
            -1.9335939954197023,
            0.2797885823336843,
            3.745476883706189,
            1.2249260560958652,
            -2.8766090462415406,
            -0.9093729010016816
          ],
          "torque": [
            -36.3720703125,
            3.88916015625,
            -9.942626953125,
            0.970458984375,
            -1.3238525390625,
            -2.30712890625,
            -0.56396484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.27668765842481235,
            0.3267720416983977,
            0.0003278737683576338,
            0.6273566835512945,
            -0.053747315777674665,
            -0.6446721255590759,
            -0.4788595455349487
          ],
          "torque": [
            29.20166015625,
            7.44140625,
            9.954833984375,
            -1.3427734375,
            3.7335205078125,
            1.142578125,
            -0.51544189453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.7,
            -7.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.8,
            -16.7,
            -7.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.6,
            -1.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.6,
            -1.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -263,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -118,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3233095264219883,
          -0.5039805562790315,
          -0.08287087522044949,
          -1.0797894781903088,
          -0.0035787532751307707,
          -0.7094808889128389,
          0.30467965986833573
        ],
        "act_joint_pos_r": [
          -0.4875221152009912,
          -1.0287795231407517,
          0.13161433677697215,
          -0.5452102218202459,
          0.08257603123020374,
          1.0367292996202544,
          -0.4499692092530134
        ],
        "act_eef_pose_l": [
          525.2118875079824,
          376.2086907697837,
          79.61563144788765,
          1.7306090089095154,
          -0.1037576532753479,
          0.8211983219138272
        ],
        "act_eef_pose_r": [
          568.6742644042034,
          -224.13634812687866,
          -17.898256653080125,
          1.6254802308958545,
          -0.007226698989496455,
          2.5769163552407583
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 171,
      "colors": {
        "rgb_main": "colors/000171_rgb_main.jpg",
        "rgb_wrist_0": "colors/000171_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000171_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000171_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.33301860690733853,
          -0.4842313990796371,
          -0.08571841398366961,
          -1.12017931834288,
          -0.014005760050152966,
          -0.6741227141706962,
          0.3069605836057962
        ],
        "joint_pos_r": [
          -0.48447962423868307,
          -1.063606558282825,
          0.12986708200739996,
          -0.5121183976374848,
          0.07733985387227936,
          1.061773698187083,
          -0.4390189221642242
        ],
        "eef_pose_l": [
          520.8862417637184,
          376.8487301591271,
          78.49319723047185,
          1.7320005864046202,
          -0.09629572094781112,
          0.8375526501675812
        ],
        "eef_pose_r": [
          569.5407494926178,
          -210.93893872116985,
          -18.62505576602686,
          1.6180226229867634,
          -0.01893585272805656,
          2.6025124477683077
        ],
        "joint_status_l": {
          "velocity": [
            -1.0485497670953414,
            -2.1328460726022236,
            0.30752511645937286,
            4.361974086929621,
            1.1260835196443137,
            -3.8185702494422102,
            -0.24633249845695815
          ],
          "torque": [
            -37.6025390625,
            3.69873046875,
            -10.5712890625,
            0.23193359375,
            -1.5765380859375,
            -2.655029296875,
            -0.545654296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.32857933299990094,
            3.7612088644181085,
            0.18869794976517085,
            -3.5738116077990156,
            0.56549047640575,
            -2.70471527390459,
            -1.1825961267808438
          ],
          "torque": [
            28.681640625,
            6.93603515625,
            9.869384765625,
            -1.263427734375,
            3.6273193359375,
            1.22314453125,
            -0.57952880859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.8,
            -6.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.8,
            -6.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.2,
            -0.5,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.2,
            -0.5,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -272,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -133,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3233281172969981,
          -0.5082397844043115,
          -0.08227057856352783,
          -1.0694417955314666,
          -0.008825317463316521,
          -0.7216660647348436,
          0.31485875979455014
        ],
        "act_joint_pos_r": [
          -0.488047526700746,
          -0.9768017415221454,
          0.1350958443091841,
          -0.621688354099409,
          0.09026006236122974,
          1.0091691782691639,
          -0.46664612092915175
        ],
        "act_eef_pose_l": [
          525.6950875079824,
          376.0430907697837,
          79.8292314478877,
          1.7265608115232085,
          -0.10867624941029096,
          0.8154322754577623
        ],
        "act_eef_pose_r": [
          562.3486644042034,
          -233.53154812687868,
          -10.258256653080025,
          1.6188907257425247,
          0.010437546707334709,
          2.5721930627456775
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 172,
      "colors": {
        "rgb_main": "colors/000172_rgb_main.jpg",
        "rgb_wrist_0": "colors/000172_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000172_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000172_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.33142329562210227,
          -0.48766507764292766,
          -0.08522393476517134,
          -1.113085082999364,
          -0.0125219687890668,
          -0.6804704456946807,
          0.3070325424346575
        ],
        "joint_pos_r": [
          -0.48503305645397937,
          -1.0559160357527595,
          0.13027868000204235,
          -0.5202246286217259,
          0.07849225393186379,
          1.0565328978696145,
          -0.44144682234009935
        ],
        "eef_pose_l": [
          521.6344072559317,
          376.742056458701,
          78.68429052861887,
          1.7315474251253968,
          -0.09774491497858405,
          0.8346155389748486
        ],
        "eef_pose_r": [
          569.2528539836394,
          -213.56977510768056,
          -18.29438285644048,
          1.6191245975882858,
          -0.01635552105493387,
          2.597822085400869
        ],
        "joint_status_l": {
          "velocity": [
            -0.8742534743833019,
            -2.222002795759792,
            0.31895306275975255,
            4.71333603411761,
            0.39922656862279027,
            -4.448995640225384,
            0.8452065468338432
          ],
          "torque": [
            -37.40478515625,
            4.68017578125,
            -10.748291015625,
            1.1474609375,
            -1.46484375,
            -2.08740234375,
            -0.5950927734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.32555318497262675,
            8.54409178239024,
            0.5202384015597916,
            -10.957759169758496,
            1.270885827597601,
            -5.115130854128402,
            -2.7214439829177373
          ],
          "torque": [
            28.095703125,
            6.09375,
            13.31787109375,
            -6.6162109375,
            5.0152587890625,
            1.2066650390625,
            -0.65460205078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.2,
            -7.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.2,
            -7.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.8,
            -17.5,
            -1.2,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -17.5,
            -1.2,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -286,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -156,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3221468655743106,
          -0.5121547382257158,
          -0.08176485142448191,
          -1.061586391469811,
          -0.0058716055417469565,
          -0.7297168794450287,
          0.3139393458454804
        ],
        "act_joint_pos_r": [
          -0.48855191064376363,
          -0.9479296576867513,
          0.13733430126802604,
          -0.66618592751364,
          0.09022226175197101,
          0.9915271167281975,
          -0.4825238556375002
        ],
        "act_eef_pose_l": [
          526.2358875079824,
          375.6838907697837,
          79.62523144788774,
          1.7271923718098285,
          -0.10964333544244016,
          0.8107945367993654
        ],
        "act_eef_pose_r": [
          558.2142644042035,
          -237.95874812687867,
          -6.548656653080116,
          1.6187855176224666,
          0.02882769503594924,
          2.571330594199607
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 173,
      "colors": {
        "rgb_main": "colors/000173_rgb_main.jpg",
        "rgb_wrist_0": "colors/000173_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000173_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000173_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3299571652624371,
          -0.4914183096390344,
          -0.08468684281108727,
          -1.1051369292455837,
          -0.011781265636477564,
          -0.6879915936971088,
          0.3083891702041553
        ],
        "joint_pos_r": [
          -0.48561039582644683,
          -1.0405316002084253,
          0.1312225553878494,
          -0.5400660550707422,
          0.08071624452887542,
          1.0473173223889727,
          -0.4464462909935484
        ],
        "eef_pose_l": [
          522.3865811806816,
          376.6139670695601,
          78.87476097200303,
          1.7306538848627437,
          -0.0996984228602066,
          0.8310876193676494
        ],
        "eef_pose_r": [
          568.0359002942907,
          -217.4929951124129,
          -16.78543478335692,
          1.6190001742184101,
          -0.011015710932829307,
          2.592914256408564
        ],
        "joint_status_l": {
          "velocity": [
            -0.8434874889839961,
            -2.239468237776432,
            0.3155657626388031,
            4.703319362795,
            0.6382244668064474,
            -4.506197957570457,
            0.5994012908669966
          ],
          "torque": [
            -36.55517578125,
            3.27392578125,
            -10.894775390625,
            0.537109375,
            -1.519775390625,
            -2.8125,
            0.42022705078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.31767423096917824,
            10.00071483702314,
            0.6600490879518084,
            -13.620544507345844,
            1.0266195815682444,
            -6.025164508635328,
            -3.8962620674394266
          ],
          "torque": [
            28.037109375,
            6.54052734375,
            13.580322265625,
            -7.87353515625,
            5.3558349609375,
            1.5472412109375,
            -0.79193115234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.9,
            -7.1,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.9,
            -7.1,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.8,
            -17.4,
            -1.7,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.8,
            -17.4,
            -1.7,
            1.1,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -160,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3203095732377501,
          -0.5229218931339831,
          -0.08045027726652851,
          -1.042691388304,
          -0.0015993065789773177,
          -0.7466130155510757,
          0.3115618971411563
        ],
        "act_joint_pos_r": [
          -0.49071644239178136,
          -0.8945352300592819,
          0.14202646785328293,
          -0.7482665996043536,
          0.10169805903923333,
          0.9498449414289676,
          -0.5082441717963276
        ],
        "act_eef_pose_l": [
          527.9590875079824,
          374.4622907697837,
          78.77163144788783,
          1.7279522752423848,
          -0.10909712531732067,
          0.801536130420639
        ],
        "act_eef_pose_r": [
          551.8166644042035,
          -247.13314812687867,
          1.0009433469199394,
          1.6146385116462225,
          0.05250878759851143,
          2.5565819898329356
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 174,
      "colors": {
        "rgb_main": "colors/000174_rgb_main.jpg",
        "rgb_wrist_0": "colors/000174_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000174_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000174_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3284416496842477,
          -0.49618417713545926,
          -0.0840408161623311,
          -1.0955962432062225,
          -0.010271342628380337,
          -0.6969803161572709,
          0.309001983028365
        ],
        "joint_pos_r": [
          -0.48640325838203885,
          -1.0174299408385081,
          0.13289447832868345,
          -0.5727090560068495,
          0.08384318796488466,
          1.0322002857159782,
          -0.45606642612115594
        ],
        "eef_pose_l": [
          523.2664507024961,
          376.31787596050617,
          78.88605094280146,
          1.7301147529970373,
          -0.10127451179807435,
          0.8265955689212078
        ],
        "eef_pose_r": [
          565.886820366987,
          -222.50203159778462,
          -14.187563428851035,
          1.6181932072935905,
          -0.000982798089080337,
          2.587115533545309
        ],
        "joint_status_l": {
          "velocity": [
            -0.8782383539660543,
            -2.8875881629799593,
            0.38776676417739964,
            5.71355581711952,
            0.9365522712028035,
            -5.360173444665328,
            0.2764625703535195
          ],
          "torque": [
            -36.4306640625,
            0.4541015625,
            -10.8154296875,
            -0.482177734375,
            -1.5087890625,
            -2.5469970703125,
            0.538330078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.4658101347163601,
            13.27223732044125,
            0.9862257814821085,
            -18.95965552338108,
            1.928269204769406,
            -8.894114865101166,
            -5.635030336582414
          ],
          "torque": [
            27.1435546875,
            13.41796875,
            14.447021484375,
            -5.853271484375,
            5.3759765625,
            0.8258056640625,
            -0.94482421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -17.2,
            -10.0,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.2,
            -10.0,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.9,
            -17.6,
            1.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -17.6,
            1.6,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -196,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -125,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3190837963554642,
          -0.532065755231792,
          -0.07941571281105264,
          -1.0276018849114514,
          -0.0019511962143735945,
          -0.7582043213994982,
          0.31348922279159136
        ],
        "act_joint_pos_r": [
          -0.4895571772376677,
          -0.8509627265202102,
          0.1465208922543722,
          -0.8109686978414198,
          0.12956328184293753,
          0.9307811252170688,
          -0.5374656147697466
        ],
        "act_eef_pose_l": [
          529.7270875079824,
          373.4774907697837,
          78.37563144788764,
          1.7265299711028304,
          -0.10982270958240897,
          0.7960232270772389
        ],
        "act_eef_pose_r": [
          546.2278644042035,
          -254.78354812687866,
          12.776143346919753,
          1.59133429454375,
          0.07161355934642027,
          2.5458848276113075
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 175,
      "colors": {
        "rgb_main": "colors/000175_rgb_main.jpg",
        "rgb_wrist_0": "colors/000175_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000175_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000175_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3269664541177288,
          -0.5016115521644735,
          -0.08333380513894331,
          -1.0851961896265956,
          -0.008885408565450992,
          -0.7064476961442185,
          0.30964030583772
        ],
        "joint_pos_r": [
          -0.48698151096494985,
          -0.9923097792102666,
          0.1349028983564082,
          -0.60864537922219,
          0.08992283591351216,
          1.0165102363500043,
          -0.4679416342960929
        ],
        "eef_pose_l": [
          524.2713075622382,
          375.91668502743175,
          78.81501619931882,
          1.7295371218567381,
          -0.10264669666182537,
          0.8218655005129099
        ],
        "eef_pose_r": [
          563.4566261893982,
          -227.7254670531026,
          -10.53503178724256,
          1.6145494089864143,
          0.010148780673401067,
          2.580826252484312
        ],
        "joint_status_l": {
          "velocity": [
            -0.8513019305165237,
            -3.2889569286709275,
            0.42314149152100633,
            6.220001460099489,
            0.7488728470923661,
            -5.589550672585375,
            0.4156707714639829
          ],
          "torque": [
            -36.85546875,
            2.79052734375,
            -10.3515625,
            0.8056640625,
            -1.3916015625,
            -2.3162841796875,
            0.52734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2781637534519099,
            15.265031472488921,
            1.2547063353948174,
            -21.850273971494083,
            4.281041897796323,
            -9.258470938353192,
            -7.508368443664093
          ],
          "torque": [
            28.68896484375,
            10.3857421875,
            14.849853515625,
            -5.841064453125,
            5.8355712890625,
            0.6976318359375,
            -0.8258056640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.7,
            -7.7,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.7,
            -7.7,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.2,
            -17.8,
            0.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -17.8,
            0.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -234,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -114,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3190147596959515,
          -0.5367236580761486,
          -0.07896945908087064,
          -1.021971600925826,
          -0.0033438377638174235,
          -0.762317370950541,
          0.316995704003207
        ],
        "act_joint_pos_r": [
          -0.48417889160432503,
          -0.8132276312240232,
          0.15111797766039933,
          -0.8692920617237121,
          0.1573230270648831,
          0.9265770259446119,
          -0.5701002044007603
        ],
        "act_eef_pose_l": [
          530.5654875079824,
          372.4606907697837,
          78.10763144788784,
          1.7252780529418852,
          -0.11146063454299195,
          0.7929441406238794
        ],
        "act_eef_pose_r": [
          539.4934644042035,
          -258.72994812687864,
          27.724143346919845,
          1.5590289903207568,
          0.09599345770187309,
          2.548190299147457
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 176,
      "colors": {
        "rgb_main": "colors/000176_rgb_main.jpg",
        "rgb_wrist_0": "colors/000176_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000176_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000176_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3260749168892432,
          -0.5051854506442371,
          -0.08287851664367288,
          -1.0785310502098335,
          -0.008144001067612707,
          -0.7124093525192118,
          0.3101780336224084
        ],
        "joint_pos_r": [
          -0.4869105657706422,
          -0.9676130800695419,
          0.1370612773714786,
          -0.6443662170449249,
          0.09832423038133652,
          1.0031359058372498,
          -0.48129788267126017
        ],
        "eef_pose_l": [
          524.9326171188395,
          375.62164337572875,
          78.75177815912605,
          1.7291283272959541,
          -0.10350346239027783,
          0.8188648847054316
        ],
        "eef_pose_r": [
          560.8324525955841,
          -232.5107507133968,
          -5.858312804032238,
          1.607713860919201,
          0.021878472185041364,
          2.5758185632021355
        ],
        "joint_status_l": {
          "velocity": [
            -0.7624744888925505,
            -3.4060259472803445,
            0.42216576566900255,
            6.108240369753659,
            0.5184023473499416,
            -5.38990702377351,
            0.7362866855111783
          ],
          "torque": [
            -36.767578125,
            3.28857421875,
            -10.09521484375,
            1.751708984375,
            -1.4849853515625,
            -2.7264404296875,
            0.5731201171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2950121090452562,
            16.673136727434645,
            1.5180788578608162,
            -24.291274792455297,
            6.371682119104105,
            -8.268115173382995,
            -9.590367894004803
          ],
          "torque": [
            33.84521484375,
            9.84375,
            15.52734375,
            -8.868408203125,
            5.6011962890625,
            2.091064453125,
            -1.00799560546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -16.5,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.5,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.0,
            -20.6,
            1.2,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.0,
            -20.6,
            1.2,
            1.3,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -263,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -62,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3208186213247489,
          -0.5454236643840477,
          -0.07792039460850306,
          -1.0026090551644973,
          -0.007810298619363153,
          -0.7733135211229955,
          0.3222773790663906
        ],
        "act_joint_pos_r": [
          -0.47102203731842573,
          -0.7776739331099418,
          0.15590144085884539,
          -0.9210667257913292,
          0.15521818843377755,
          0.9216762257986864,
          -0.617740207157714
        ],
        "act_eef_pose_l": [
          532.5678875079824,
          373.42869076978366,
          76.4692314478878,
          1.7243066120769597,
          -0.11147236399243231,
          0.7930334375548692
        ],
        "act_eef_pose_r": [
          533.0742644042035,
          -262.19314812687867,
          41.77854334691983,
          1.5458036639437027,
          0.16033908542366743,
          2.5568190221565703
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 177,
      "colors": {
        "rgb_main": "colors/000177_rgb_main.jpg",
        "rgb_wrist_0": "colors/000177_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000177_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000177_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32481015779649847,
          -0.512274489954208,
          -0.08200236755093059,
          -1.065494875850917,
          -0.007562370414107063,
          -0.7233894748780519,
          0.31200257987642976
        ],
        "joint_pos_r": [
          -0.484703220188977,
          -0.9320880842279997,
          0.1404906764269129,
          -0.6961199582946936,
          0.10992269445365971,
          0.9871235257555717,
          -0.505158291816635
        ],
        "eef_pose_l": [
          526.2757557013191,
          375.0917938956706,
          78.46645413633232,
          1.728245162341148,
          -0.10508230414821129,
          0.8136653552600871
        ],
        "eef_pose_r": [
          556.6246815925767,
          -238.74872264377987,
          2.50702636009612,
          1.595553122875261,
          0.04516192818687924,
          2.571843749293662
        ],
        "joint_status_l": {
          "velocity": [
            -0.43107322512403456,
            -3.5800052518113468,
            0.44084007589917373,
            6.79146833048172,
            -0.026775456467773018,
            -5.391637976591923,
            1.1096455852683818
          ],
          "torque": [
            -35.91796875,
            1.60400390625,
            -9.912109375,
            1.190185546875,
            -2.413330078125,
            -2.471923828125,
            0.65277099609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.477524172773581,
            16.676236481446338,
            1.6643134723466346,
            -24.29353439013937,
            4.8917690748359055,
            -7.068099932880045,
            -12.15848826139343
          ],
          "torque": [
            39.4482421875,
            10.94970703125,
            15.49072265625,
            -6.329345703125,
            5.5023193359375,
            0.8990478515625,
            -0.6463623046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -16.0,
            -10.6,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.9,
            -16.0,
            -10.6,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.4,
            -18.5,
            -0.9,
            1.2,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -18.5,
            -0.9,
            1.2,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -261,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -72,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3235817306485032,
          -0.5465098580289404,
          -0.07784026533735754,
          -1.0004363924350672,
          -0.016654289939919843,
          -0.7735587522320078,
          0.3295887215106654
        ],
        "act_joint_pos_r": [
          -0.46458893562534515,
          -0.7539149581672858,
          0.15983117125041915,
          -0.9566226297069217,
          0.17773673826469463,
          0.9360528868830598,
          -0.6407035512248049
        ],
        "act_eef_pose_l": [
          532.8710875079825,
          373.6854907697837,
          76.0348314478877,
          1.7204695492651902,
          -0.11083926489490253,
          0.7954245746654891
        ],
        "act_eef_pose_r": [
          526.5302644042034,
          -263.4507481268787,
          55.280143346919886,
          1.51220785531258,
          0.1786865993643175,
          2.566359804775211
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 178,
      "colors": {
        "rgb_main": "colors/000178_rgb_main.jpg",
        "rgb_wrist_0": "colors/000178_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000178_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000178_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3242448353264993,
          -0.5190335502628721,
          -0.08117466575770481,
          -1.0526629367057638,
          -0.008371798619259973,
          -0.7334494682617735,
          0.3146966194628646
        ],
        "joint_pos_r": [
          -0.48089555072719636,
          -0.895902647315277,
          0.14431868327560843,
          -0.7489652972417692,
          0.12269865430611303,
          0.9751848083210843,
          -0.5323248678997736
        ],
        "eef_pose_l": [
          527.6000924966431,
          374.80069424269215,
          78.0093757435242,
          1.7271430977067643,
          -0.10626628136015907,
          0.8097141126672873
        ],
        "eef_pose_r": [
          551.6200161834025,
          -244.4268601802329,
          12.654260562988839,
          1.5796604550976583,
          0.07236799512957343,
          2.5708335623767375
        ],
        "joint_status_l": {
          "velocity": [
            -0.07161319310533543,
            -2.967353721315291,
            0.3601046246793915,
            5.640300429466727,
            -0.8944826812747677,
            -4.331674912862127,
            1.6082995869015626
          ],
          "torque": [
            -36.84814453125,
            0.966796875,
            -9.686279296875,
            2.28271484375,
            -3.9166259765625,
            -2.373046875,
            0.6573486328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.7610624912385298,
            15.334218169393843,
            1.675299290968102,
            -22.426330476974954,
            5.943937760453322,
            -4.226122872475813,
            -11.704552591777162
          ],
          "torque": [
            40.62744140625,
            11.81396484375,
            15.673828125,
            -6.2744140625,
            5.4034423828125,
            0.509033203125,
            -0.706787109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.2,
            -8.5,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.2,
            -8.5,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.9,
            -17.5,
            -1.5,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -17.5,
            -1.5,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -240,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -40,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32510240413297264,
          -0.5481761596819392,
          -0.07769146839158352,
          -0.9973938048049,
          -0.019307641441711293,
          -0.7751487370110935,
          0.331888544150141
        ],
        "act_joint_pos_r": [
          -0.4624061390440661,
          -0.7443805695737475,
          0.16208847061359588,
          -0.976260120700164,
          0.18916474061575614,
          0.9451888823378689,
          -0.6532732585584835
        ],
        "act_eef_pose_l": [
          533.1358875079824,
          373.7086907697837,
          75.37483144788762,
          1.719801943430706,
          -0.11009301169220316,
          0.795637154229354
        ],
        "act_eef_pose_r": [
          522.4118644042035,
          -262.0939481268787,
          61.94094334691977,
          1.493113255910649,
          0.18765739579382956,
          2.57567816199583
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 179,
      "colors": {
        "rgb_main": "colors/000179_rgb_main.jpg",
        "rgb_wrist_0": "colors/000179_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000179_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000179_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3242025919686557,
          -0.5236236891493599,
          -0.0806199726763482,
          -1.0439435460048552,
          -0.00984990183018208,
          -0.7401130586876746,
          0.31724578951901206
        ],
        "joint_pos_r": [
          -0.4797198152655711,
          -0.8856650866564422,
          0.1454371607828101,
          -0.7639377540098207,
          0.126666996395861,
          0.9723633283616422,
          -0.5401391604720557
        ],
        "eef_pose_l": [
          528.4967011668454,
          374.6304633666984,
          77.64232558686032,
          1.726051736565874,
          -0.1069389315071701,
          0.8073601654659475
        ],
        "eef_pose_r": [
          550.0718579989231,
          -245.94040128780034,
          15.710526931670245,
          1.5746229609784899,
          0.08006827084876779,
          2.5707849772140734
        ],
        "joint_status_l": {
          "velocity": [
            0.09717684766830104,
            -2.6515886130926702,
            0.31626913489513075,
            5.027223779555889,
            -1.0214057532927505,
            -3.7837416634332044,
            1.5813708601211118
          ],
          "torque": [
            -35.85205078125,
            3.1201171875,
            -9.9609375,
            0.048828125,
            -4.53369140625,
            -2.6055908203125,
            0.60333251953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.6340868063307035,
            14.228594226874058,
            1.554507282760298,
            -20.8093528362312,
            5.5153694547070975,
            -3.921412023821347,
            -10.860633884022253
          ],
          "torque": [
            39.07470703125,
            10.89111328125,
            14.898681640625,
            -7.037353515625,
            5.203857421875,
            1.563720703125,
            -0.69488525390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.5,
            -7.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.5,
            -7.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -16.8,
            0.4,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -16.8,
            0.4,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -242,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -97,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3260169054254931,
          -0.5498399702162742,
          -0.07750796492526836,
          -0.9934697993345076,
          -0.019668362637992428,
          -0.7751190231165505,
          0.3317885926784063
        ],
        "act_joint_pos_r": [
          -0.45845739321303913,
          -0.7282686579241526,
          0.16529054086179476,
          -1.0212625135225013,
          0.18860183536047215,
          0.9502029768836534,
          -0.6564715196412855
        ],
        "act_eef_pose_l": [
          533.7214875079824,
          374.28869076978367,
          74.5956314478879,
          1.720837655974024,
          -0.1093006440867709,
          0.7978422828098282
        ],
        "act_eef_pose_r": [
          513.4414644042035,
          -256.06434812687866,
          70.46574334691991,
          1.4768264211265911,
          0.19608301865871777,
          2.603748571450303
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 180,
      "colors": {
        "rgb_main": "colors/000180_rgb_main.jpg",
        "rgb_wrist_0": "colors/000180_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000180_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000180_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32440183918073295,
          -0.5280378250052107,
          -0.08009413144262092,
          -1.0355408697597412,
          -0.011537947830369662,
          -0.746306356516633,
          0.31983036308650675
        ],
        "joint_pos_r": [
          -0.4761218630202677,
          -0.8567798821795847,
          0.1488799024344148,
          -0.8079595119941708,
          0.13921769861830807,
          0.9670468437774136,
          -0.562982943645589
        ],
        "eef_pose_l": [
          529.3582005945824,
          374.50320138986194,
          77.19605997323373,
          1.7250264055097433,
          -0.10741963220704052,
          0.8053703699069411
        ],
        "eef_pose_r": [
          544.9511584842464,
          -249.32918996624198,
          25.23959553404879,
          1.5572977006670643,
          0.1019268061877082,
          2.573486052538363
        ],
        "joint_status_l": {
          "velocity": [
            0.17442201013206926,
            -2.3545622386933474,
            0.27929774642743155,
            4.543541601329082,
            -0.8780589022602259,
            -3.1116762188059255,
            1.291450706622399
          ],
          "torque": [
            -27.42919921875,
            2.77587890625,
            -10.15625,
            0.909423828125,
            -4.78271484375,
            -2.6422119140625,
            0.5108642578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.907706474385762,
            13.878802886176267,
            1.7722966790605366,
            -23.03604475323695,
            5.333329470009085,
            -1.819083973512825,
            -10.096468428116623
          ],
          "torque": [
            39.6533203125,
            9.404296875,
            16.41845703125,
            -7.366943359375,
            5.1324462890625,
            1.1572265625,
            -0.816650390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.8,
            -8.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.8,
            -8.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.0,
            -16.9,
            -0.7,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -16.9,
            -0.7,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -213,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -74,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3273236024631433,
          -0.5499491485453968,
          -0.07751747512445945,
          -0.9934400696092691,
          -0.022226875308698806,
          -0.7723008762228929,
          0.33379921569682625
        ],
        "act_joint_pos_r": [
          -0.45737258192716673,
          -0.72932151971421,
          0.16626633967395618,
          -1.0385076349590179,
          0.16567365137933265,
          0.976067134032331,
          -0.641670017227999
        ],
        "act_eef_pose_l": [
          534.0134875079824,
          374.6814907697837,
          74.12123144788784,
          1.720635711707184,
          -0.10903631120818677,
          0.8008721302886475
        ],
        "act_eef_pose_r": [
          504.70466440420347,
          -247.08194812687867,
          72.04734334691989,
          1.4747884180278348,
          0.19738018556217513,
          2.6517077293333795
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 181,
      "colors": {
        "rgb_main": "colors/000181_rgb_main.jpg",
        "rgb_wrist_0": "colors/000181_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000181_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000181_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32466734853921253,
          -0.5316219959995855,
          -0.0796689777282324,
          -1.028624581988025,
          -0.012874550107054442,
          -0.7510430245324765,
          0.32179624026200665
        ],
        "joint_pos_r": [
          -0.47321790656547097,
          -0.8356532362477781,
          0.15157773485783818,
          -0.8430255306675553,
          0.1473362203866936,
          0.9642777906145565,
          -0.5783520295380711
        ],
        "eef_pose_l": [
          530.0869474343305,
          374.47580076066464,
          76.76146927183441,
          1.7243594907807127,
          -0.10770077316214181,
          0.8041244814031264
        ],
        "eef_pose_r": [
          540.321564902003,
          -250.63110890935022,
          32.683323967454754,
          1.5436949065779497,
          0.11722419181119051,
          2.579042468498541
        ],
        "joint_status_l": {
          "velocity": [
            0.14574784511545147,
            -1.9674831875873267,
            0.23338249947135736,
            3.7966045517148217,
            -0.7337101137182278,
            -2.600131160310326,
            1.0791422333720213
          ],
          "torque": [
            -24.7998046875,
            3.6181640625,
            -10.05859375,
            1.45263671875,
            -4.8028564453125,
            -2.7191162109375,
            0.57861328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.5940884269376454,
            11.597192418045132,
            1.4809393704553475,
            -19.249026428646232,
            4.456554978105043,
            -1.5200350519011252,
            -8.436656105275553
          ],
          "torque": [
            41.28662109375,
            11.37451171875,
            15.6005859375,
            -6.280517578125,
            4.9017333984375,
            0.75439453125,
            -0.8038330078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.7,
            -8.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.7,
            -8.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.0,
            -16.7,
            -1.0,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.7,
            -1.0,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -160,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -41,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3286150204584912,
          -0.5500497556659208,
          -0.07758924233625394,
          -0.9965727145075378,
          -0.022231631155816587,
          -0.7686239280543345,
          0.3334051998007394
        ],
        "act_joint_pos_r": [
          -0.45670534405998303,
          -0.7369768347683483,
          0.16587896015613005,
          -1.0421622642452257,
          0.14344515574673886,
          1.0006467308427491,
          -0.6208236059465513
        ],
        "act_eef_pose_l": [
          533.9406875079824,
          373.9814907697837,
          73.4452314478879,
          1.7216395827838424,
          -0.10776651377946463,
          0.8012615819749432
        ],
        "act_eef_pose_r": [
          498.6774644042035,
          -239.2315481268787,
          71.2777433469198,
          1.4771483025370094,
          0.19046396360073617,
          2.693371088473897
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 182,
      "colors": {
        "rgb_main": "colors/000182_rgb_main.jpg",
        "rgb_wrist_0": "colors/000182_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000182_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000182_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32533222573492143,
          -0.5350991860664123,
          -0.07927130818764917,
          -1.02236818582743,
          -0.014643085685633137,
          -0.7545981714029553,
          0.32401559311865236
        ],
        "joint_pos_r": [
          -0.47037754690885386,
          -0.8172977435491378,
          0.15415229313562612,
          -0.8778007798443165,
          0.14928673924156227,
          0.9677905607352811,
          -0.5883358015926977
        ],
        "eef_pose_l": [
          530.8281570530279,
          374.4325963585678,
          76.17339379408213,
          1.7237989351777747,
          -0.10776995476307506,
          0.8035501398994336
        ],
        "eef_pose_r": [
          534.2040183778809,
          -249.55574570963276,
          39.637337113762726,
          1.5311956068765713,
          0.13034274863385806,
          2.5946722943109792
        ],
        "joint_status_l": {
          "velocity": [
            0.35453137380159205,
            -1.6146138962556122,
            0.18165775424161534,
            2.7858287389221914,
            -0.8195387397767206,
            -1.5147370435677487,
            1.0140476139297583
          ],
          "torque": [
            -23.818359375,
            2.79052734375,
            -10.089111328125,
            0.836181640625,
            -4.991455078125,
            -2.5616455078125,
            0.66009521484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.4765543590353758,
            8.67440231050498,
            1.266442686483904,
            -17.750516791789295,
            -0.630872410853689,
            3.548361718270776,
            -3.5085793901981077
          ],
          "torque": [
            39.74853515625,
            8.13720703125,
            15.771484375,
            -5.94482421875,
            2.8271484375,
            3.768310546875,
            -0.501708984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.8,
            -8.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.8,
            -8.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.8,
            -16.4,
            -1.9,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -16.4,
            -1.9,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -269,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -32,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32799294511403676,
          -0.5513595240037129,
          -0.07744241609510627,
          -0.9935869612069689,
          -0.017262829210292253,
          -0.7704963367096579,
          0.3298187914304621
        ],
        "act_joint_pos_r": [
          -0.4571380326000108,
          -0.7507607165884903,
          0.16444048529243874,
          -1.033467584821713,
          0.12341977968996211,
          1.0256359099210288,
          -0.5959532726297849
        ],
        "act_eef_pose_l": [
          534.1430875079824,
          374.07189076978364,
          72.91803144788791,
          1.7246335145545972,
          -0.1078750490901231,
          0.7999993000330771
        ],
        "act_eef_pose_r": [
          494.93186440420345,
          -232.14914812687869,
          68.49054334692005,
          1.481475173475421,
          0.1757922870375618,
          2.7297294617784233
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 183,
      "colors": {
        "rgb_main": "colors/000183_rgb_main.jpg",
        "rgb_wrist_0": "colors/000183_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000183_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000183_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3258017051393745,
          -0.5377047879409592,
          -0.07897821611871601,
          -1.0177906098122156,
          -0.015329913530321532,
          -0.7571152282638074,
          0.32515450022096093
        ],
        "joint_pos_r": [
          -0.4679791844871995,
          -0.803701538235114,
          0.15616250757327924,
          -0.9064795162221887,
          0.1473746473012369,
          0.9746970035767133,
          -0.5929879409229994
        ],
        "eef_pose_l": [
          531.3684068595106,
          374.3732113090903,
          75.66411500756291,
          1.7237868388033084,
          -0.10777317968729234,
          0.8030298191366911
        ],
        "eef_pose_r": [
          528.1623431648775,
          -247.30639900023348,
          45.168342009034006,
          1.5213678402461128,
          0.13970078562135022,
          2.6138517290711563
        ],
        "joint_status_l": {
          "velocity": [
            0.2366469377350633,
            -1.4746680017694302,
            0.16586151072617294,
            2.6139169560073228,
            -0.20874873672194205,
            -1.4451170907019417,
            0.5037285939453184
          ],
          "torque": [
            -23.3056640625,
            2.04345703125,
            -9.63134765625,
            0.91552734375,
            -4.866943359375,
            -2.7044677734375,
            0.59234619140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.1708098726250782,
            5.717440110953653,
            0.8939952266893147,
            -13.71430692688591,
            -2.5870494010742373,
            5.501239634796207,
            -0.32024637917071885
          ],
          "torque": [
            38.1298828125,
            9.0966796875,
            16.10107421875,
            -7.7392578125,
            2.9168701171875,
            3.5614013671875,
            -0.67657470703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.5,
            -8.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.5,
            -8.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.6,
            -17.4,
            -2.0,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -17.4,
            -2.0,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -267,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -72,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32767988054404845,
          -0.5506229832583597,
          -0.07754544500852593,
          -0.9956267098692729,
          -0.014865723250862412,
          -0.7689524421456738,
          0.3279561941953055
        ],
        "act_joint_pos_r": [
          -0.4598591252591291,
          -0.7581660337167362,
          0.16376800976781977,
          -1.0317711139509216,
          0.11641041597876,
          1.0331263310238448,
          -0.5848751601465443
        ],
        "act_eef_pose_l": [
          533.9590875079824,
          373.91429076978363,
          72.86523144788775,
          1.7260213533403426,
          -0.10796905532678887,
          0.7997474474810289
        ],
        "act_eef_pose_r": [
          493.1110644042035,
          -228.06834812687867,
          66.2121433469199,
          1.4832520514317518,
          0.16516974980650587,
          2.74518804509089
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 184,
      "colors": {
        "rgb_main": "colors/000184_rgb_main.jpg",
        "rgb_wrist_0": "colors/000184_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000184_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000184_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32605965684764004,
          -0.5393827809954106,
          -0.0787906589513468,
          -1.0148589538225714,
          -0.015434207569973542,
          -0.7587118231392517,
          0.3256340670808187
        ],
        "joint_pos_r": [
          -0.4664306530557513,
          -0.7956343260747388,
          0.15746561236667936,
          -0.9272100596105161,
          0.14283457356398652,
          0.9837144434637035,
          -0.5925239744250046
        ],
        "eef_pose_l": [
          531.710770741171,
          374.32881204527894,
          75.31460043201392,
          1.7239747351375163,
          -0.10778930100550636,
          0.8026337678933483
        ],
        "eef_pose_r": [
          522.8241695523537,
          -244.26964594839228,
          48.864332931320575,
          1.5145489058819739,
          0.14425182525706198,
          2.634196582738924
        ],
        "joint_status_l": {
          "velocity": [
            0.17497899848217813,
            -1.2139060421532122,
            0.13447913957453927,
            2.0770210884943907,
            0.06139449573014377,
            -1.1059542343163642,
            0.2507823319346514
          ],
          "torque": [
            -23.34228515625,
            3.62548828125,
            -9.844970703125,
            1.13525390625,
            -3.3782958984375,
            -2.574462890625,
            0.68115234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.7097040704326929,
            4.046456230817341,
            0.6806388449533962,
            -11.292260821332611,
            -2.8537248530891013,
            5.336326469958408,
            0.8260475791033173
          ],
          "torque": [
            38.1591796875,
            10.5908203125,
            16.009521484375,
            -6.787109375,
            2.0233154296875,
            3.369140625,
            0.32318115234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.6,
            -16.4,
            -6.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.4,
            -6.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.6,
            -17.0,
            -3.3,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.6,
            -17.0,
            -3.3,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -232,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -17,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3272253883043721,
          -0.5501435815998565,
          -0.07758011158258783,
          -0.9954710770117542,
          -0.010474904123940115,
          -0.7691972411622803,
          0.32426362505135686
        ],
        "act_joint_pos_r": [
          -0.4667886915224227,
          -0.7741024415860898,
          0.1620244625135352,
          -1.0251675245324572,
          0.09928734681472218,
          1.0446327748903115,
          -0.5626439372907092
        ],
        "act_eef_pose_l": [
          533.7894875079824,
          374.1694907697837,
          72.5484314478877,
          1.7287352271284486,
          -0.10770898257371539,
          0.7992633353147401
        ],
        "act_eef_pose_r": [
          490.16866440420347,
          -220.39314812687866,
          59.672943346919965,
          1.4920954807018938,
          0.143431991815772,
          2.7727433984272136
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 185,
      "colors": {
        "rgb_main": "colors/000185_rgb_main.jpg",
        "rgb_wrist_0": "colors/000185_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000185_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000185_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3263133563331825,
          -0.5413355775538805,
          -0.07857299417836679,
          -1.0114473100052828,
          -0.015017109026538123,
          -0.760540101109455,
          0.3257783979848612
        ],
        "joint_pos_r": [
          -0.46598249919297685,
          -0.7901083820105621,
          0.15851319940636938,
          -0.9474034285882782,
          0.13536321726342174,
          0.9951004498076339,
          -0.5881843026848513
        ],
        "eef_pose_l": [
          532.099388064692,
          374.27635614093316,
          74.85888230222602,
          1.7245294476230482,
          -0.10780394744763734,
          0.8020898742873056
        ],
        "eef_pose_r": [
          516.7296244044979,
          -239.78258422289835,
          51.561234104085344,
          1.5090422394181198,
          0.14537470460081423,
          2.6599015881453405
        ],
        "joint_status_l": {
          "velocity": [
            0.09849654788807172,
            -0.9512363817480995,
            0.1072281578187173,
            1.725382275871823,
            0.4905436616686465,
            -0.934943551018641,
            -0.16359065197013578
          ],
          "torque": [
            -23.41552734375,
            3.515625,
            -9.521484375,
            0.604248046875,
            -2.662353515625,
            -2.666015625,
            -0.01739501953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.08706620369958173,
            1.728590583788936,
            0.3792052315132466,
            -8.398274668099504,
            -3.8960790997488726,
            5.349333338775075,
            2.7582781115027544
          ],
          "torque": [
            32.6953125,
            7.79296875,
            16.61376953125,
            -6.512451171875,
            2.18994140625,
            3.3746337890625,
            0.71319580078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.5,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.5,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.1,
            -16.6,
            -3.1,
            0.9,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -16.6,
            -3.1,
            0.9,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -276,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -43,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3268842744044243,
          -0.5500875187017051,
          -0.07758626441335881,
          -0.9954125844638936,
          -0.007983219007721932,
          -0.7694322126908109,
          0.3221606614128358
        ],
        "act_joint_pos_r": [
          -0.47205536149089244,
          -0.7946872495319887,
          0.1594808945195805,
          -1.002755426097705,
          0.08492978499818228,
          1.0645682855434342,
          -0.5405302863049513
        ],
        "act_eef_pose_l": [
          533.7182875079824,
          374.1702907697837,
          72.40283144788786,
          1.7301541149913506,
          -0.10753886723135393,
          0.7986801309538655
        ],
        "act_eef_pose_r": [
          489.3126644042035,
          -214.44434812687868,
          53.02494334691983,
          1.4989682349181692,
          0.12122926489907279,
          2.7962924050906266
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 186,
      "colors": {
        "rgb_main": "colors/000186_rgb_main.jpg",
        "rgb_wrist_0": "colors/000186_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000186_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000186_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32646594213756364,
          -0.5429973591081309,
          -0.07838566009228341,
          -1.0084238105963705,
          -0.014013672592290244,
          -0.7621902757231325,
          0.3253698469686931
        ],
        "joint_pos_r": [
          -0.4667292053448112,
          -0.789405513631096,
          0.1588899349342346,
          -0.9595746816776911,
          0.12692339227785845,
          1.0067134751667692,
          -0.5808608598015073
        ],
        "eef_pose_l": [
          532.4173291248225,
          374.25762977774406,
          74.41428187179636,
          1.7254016431199368,
          -0.10778076697074258,
          0.8015227477314943
        ],
        "eef_pose_r": [
          511.7840794908284,
          -235.20585504216965,
          52.355790567443194,
          1.5064362054986629,
          0.14239966637983276,
          2.6838037411397755
        ],
        "joint_status_l": {
          "velocity": [
            0.04517855235031121,
            -0.7657146525592573,
            0.08633218709219737,
            1.4051709790052769,
            0.6512697789580052,
            -0.7821061255217643,
            -0.3465818181482838
          ],
          "torque": [
            -26.38916015625,
            2.51220703125,
            -9.4970703125,
            0.30517578125,
            -2.215576171875,
            -2.713623046875,
            -0.31768798828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5752078989265108,
            -0.570410653932818,
            0.06382175289543213,
            -4.663382858235643,
            -4.535175828343951,
            6.248135241780695,
            4.355573476854779
          ],
          "torque": [
            27.3779296875,
            3.39111328125,
            15.545654296875,
            -6.75048828125,
            1.8438720703125,
            3.4332275390625,
            0.84228515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -16.7,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.7,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.2,
            -16.4,
            -3.6,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.4,
            -3.6,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -267,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -11,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3263397169707168,
          -0.5495771352881215,
          -0.0776840716261476,
          -0.9981696881120038,
          -0.006465339764412629,
          -0.7676956083787998,
          0.32108768165648166
        ],
        "act_joint_pos_r": [
          -0.47953872466211017,
          -0.8142901725975379,
          0.15728853247650698,
          -0.9867626355467048,
          0.08043348660276363,
          1.0800750894855005,
          -0.5229543307089797
        ],
        "act_eef_pose_l": [
          533.5686875079824,
          373.6518907697837,
          72.6092314478879,
          1.7306136472414368,
          -0.10785585981553909,
          0.7979223815274915
        ],
        "act_eef_pose_r": [
          487.9718644042035,
          -207.77314812687868,
          47.41134334691969,
          1.4980756923768326,
          0.09611031732672012,
          2.816338132059
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 187,
      "colors": {
        "rgb_main": "colors/000187_rgb_main.jpg",
        "rgb_wrist_0": "colors/000187_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000187_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000187_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32651079855837495,
          -0.5443862778743529,
          -0.07823196640923992,
          -1.006006251999928,
          -0.012691602562428243,
          -0.7635213018339116,
          0.32464716708911323
        ],
        "joint_pos_r": [
          -0.46772898747223574,
          -0.7909318293510463,
          0.1588681489986957,
          -0.9643142004108204,
          0.12143386757170395,
          1.01468529235788,
          -0.5750066271261259
        ],
        "eef_pose_l": [
          532.6697819221428,
          374.20333630708825,
          74.02531464702517,
          1.7263852653874263,
          -0.10775971508858954,
          0.8008966476955878
        ],
        "eef_pose_r": [
          508.99110889866193,
          -232.14994915582866,
          52.18968300626608,
          1.5054138799285974,
          0.1386292259889607,
          2.69880706139122
        ],
        "joint_status_l": {
          "velocity": [
            -0.018476266538502983,
            -0.5605960667893761,
            0.05917089142193355,
            0.8463239389060462,
            0.6724165503196322,
            -0.4508118108637049,
            -0.3844130890664488
          ],
          "torque": [
            -24.5068359375,
            1.99951171875,
            -9.222412109375,
            0.897216796875,
            -2.127685546875,
            -2.5140380859375,
            -0.4229736328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.275414000180941,
            -2.5226266697240263,
            -0.17059355300852452,
            -2.4243594920134726,
            -4.427910550404701,
            7.061889810476174,
            5.621482216296769
          ],
          "torque": [
            25.0634765625,
            2.4609375,
            12.97607421875,
            -6.67724609375,
            2.0233154296875,
            3.6419677734375,
            0.787353515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.9,
            -8.6,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.9,
            -8.6,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.0,
            -17.1,
            -2.3,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -17.1,
            -2.3,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -280,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 19,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32529762064458373,
          -0.5520444108346926,
          -0.07733529435695403,
          -0.9900367359678952,
          -0.0036346554461353943,
          -0.7725869959808431,
          0.3191901440036553
        ],
        "act_joint_pos_r": [
          -0.4902104950856083,
          -0.8330211767141776,
          0.15541961683783256,
          -0.9770654306062933,
          0.07461170961830366,
          1.0922211699095667,
          -0.5068388195857256
        ],
        "act_eef_pose_l": [
          534.2910875079824,
          374.63429076978366,
          72.33723144788773,
          1.7322445591019497,
          -0.10848884334419953,
          0.7980537176933262
        ],
        "act_eef_pose_r": [
          485.07586440420346,
          -199.9387481268787,
          40.67134334691991,
          1.498002541480102,
          0.07006354891512269,
          2.8387193474240777
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 188,
      "colors": {
        "rgb_main": "colors/000188_rgb_main.jpg",
        "rgb_wrist_0": "colors/000188_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000188_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000188_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32638117689154905,
          -0.5454196325869791,
          -0.07811410747144507,
          -1.0040077543724104,
          -0.01146493187278411,
          -0.7646414639167427,
          0.32391811572258333
        ],
        "joint_pos_r": [
          -0.46953019521503647,
          -0.794390069844991,
          0.15860784244130643,
          -0.9664215716400701,
          0.11655165302876155,
          1.0225973576223768,
          -0.5684253179617942
        ],
        "eef_pose_l": [
          532.8795633508082,
          374.2176861300786,
          73.78389541858732,
          1.7271828892296954,
          -0.1078428185521916,
          0.8004579862181893
        ],
        "eef_pose_r": [
          506.59922084997413,
          -228.91651927999973,
          51.32536438502845,
          1.504671790133891,
          0.13272367549913267,
          2.7130087069766495
        ],
        "joint_status_l": {
          "velocity": [
            -0.11702062333363017,
            -0.7154549495367313,
            0.08410933569280576,
            1.50882548725928,
            0.8456449131145488,
            -0.8580921548473341,
            -0.5106058861286122
          ],
          "torque": [
            -28.623046875,
            2.3876953125,
            -8.721923828125,
            1.2939453125,
            -1.7669677734375,
            -2.3822021484375,
            -0.41656494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.2334065152174176,
            -4.1720364942330335,
            -0.34431821005265206,
            -1.1495028655765793,
            -4.529380301398267,
            7.5191499615421264,
            6.651145659560598
          ],
          "torque": [
            25.927734375,
            1.89697265625,
            10.748291015625,
            -7.36083984375,
            2.427978515625,
            3.658447265625,
            0.6573486328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.0,
            -7.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.0,
            -7.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.0,
            -18.4,
            -2.2,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -18.4,
            -2.2,
            1.1,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -167,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 28,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32435442606586923,
          -0.5519185776167259,
          -0.07738611620522359,
          -0.9919373822915972,
          0.001079476826186207,
          -0.7705644972211987,
          0.316880538986619
        ],
        "act_joint_pos_r": [
          -0.4963962270731895,
          -0.8431843804364683,
          0.1544361154489607,
          -0.9713373295676335,
          0.07069004236540267,
          1.097082701623179,
          -0.4997161675035855
        ],
        "act_eef_pose_l": [
          534.2790875079825,
          374.25429076978367,
          72.23003144788781,
          1.7348235593338404,
          -0.11009334291790743,
          0.7971782272811836
        ],
        "act_eef_pose_r": [
          483.7030644042035,
          -195.8755481268787,
          36.540143346919876,
          1.4993873189347808,
          0.057421389780099134,
          2.8490937115383996
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 189,
      "colors": {
        "rgb_main": "colors/000189_rgb_main.jpg",
        "rgb_wrist_0": "colors/000189_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000189_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000189_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3260574815836822,
          -0.5466561035982233,
          -0.07797328757170816,
          -1.0016062365741423,
          -0.009390636247385054,
          -0.7658885853241321,
          0.3227332933699262
        ],
        "joint_pos_r": [
          -0.4741346766254879,
          -0.8028909556451284,
          0.15789582882146855,
          -0.9681488762530994,
          0.10783543853074903,
          1.036948123622677,
          -0.5555276971977913
        ],
        "eef_pose_l": [
          533.146219753561,
          374.24822125087707,
          73.49770702379314,
          1.7284555527139829,
          -0.10817478398321204,
          0.7998916955006551
        ],
        "eef_pose_r": [
          502.37293660992975,
          -222.57721558894858,
          48.80371672443525,
          1.5037439589560444,
          0.11930150700375272,
          2.7389868404900617
        ],
        "joint_status_l": {
          "velocity": [
            -0.183924571358407,
            -0.5683304319878957,
            0.06341263732456692,
            1.0442054653214683,
            1.1307388625856063,
            -0.5049835911883349,
            -0.6320788312286219
          ],
          "torque": [
            -31.45751953125,
            2.197265625,
            -9.149169921875,
            0.7080078125,
            -1.6534423828125,
            -2.35107421875,
            -0.45318603515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.4041765409550386,
            -4.3515615350173675,
            -0.37363802436640725,
            -0.34434280212103374,
            -4.011584470497986,
            6.494342883649473,
            6.027467436325207
          ],
          "torque": [
            24.7119140625,
            0.99609375,
            10.260009765625,
            -5.7861328125,
            2.29248046875,
            3.387451171875,
            1.065673828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -15.9,
            -7.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -15.9,
            -7.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.4,
            -16.9,
            -0.9,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -16.9,
            -0.9,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -282,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 11,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32452821889705646,
          -0.5516238714498285,
          -0.07743476050755768,
          -0.9931717110134192,
          0.0010919730715653658,
          -0.7688527083877033,
          0.3170102696742606
        ],
        "act_joint_pos_r": [
          -0.5068429491730599,
          -0.8606539491504397,
          0.1528743654389702,
          -0.9646021124086473,
          0.06073434746352069,
          1.1031241379392482,
          -0.48503511468639815
        ],
        "act_eef_pose_l": [
          534.2894875079824,
          374.20309076978367,
          72.15803144788792,
          1.735077467399612,
          -0.1102624512980186,
          0.7978747106601406
        ],
        "act_eef_pose_r": [
          480.72866440420347,
          -188.05394812687868,
          29.30414334692,
          1.5036501102386035,
          0.03484971725222322,
          2.8689753215239984
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 190,
      "colors": {
        "rgb_main": "colors/000190_rgb_main.jpg",
        "rgb_wrist_0": "colors/000190_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000190_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000190_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3257947935382691,
          -0.5474919167756848,
          -0.07788159775283755,
          -1.000139494779235,
          -0.007668155545811456,
          -0.766487020009529,
          0.3217840315338674
        ],
        "joint_pos_r": [
          -0.4790961620274424,
          -0.8117674934236356,
          0.1571292098046325,
          -0.9682659912204408,
          0.1000957583286708,
          1.0487513867206297,
          -0.5439187190678534
        ],
        "eef_pose_l": [
          533.3340053367436,
          374.2436193485145,
          73.28248332697032,
          1.7295227585654633,
          -0.1085109863129686,
          0.7995134804236353
        ],
        "eef_pose_r": [
          498.816452607082,
          -216.80479096347986,
          45.874524758338026,
          1.50359600596713,
          0.10607638563991374,
          2.7612297303987536
        ],
        "joint_status_l": {
          "velocity": [
            -0.13678602696298725,
            -0.44623794372267156,
            0.04825699922605953,
            0.7524984529521106,
            0.9460659879518968,
            -0.2554868096620311,
            -0.5155510754710768
          ],
          "torque": [
            -33.4130859375,
            1.04736328125,
            -13.4521484375,
            0.830078125,
            -1.754150390625,
            -2.362060546875,
            -0.457763671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.9965646327765327,
            -5.279581505561737,
            -0.4595096389792275,
            0.395687241502074,
            -4.250906999636039,
            5.872083943751605,
            6.359241717388553
          ],
          "torque": [
            21.81884765625,
            1.142578125,
            9.539794921875,
            -4.376220703125,
            2.0123291015625,
            3.3837890625,
            1.20849609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.4,
            -7.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.4,
            -7.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.2,
            -16.0,
            0.5,
            0.9,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -16.0,
            0.5,
            0.9,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -211,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 53,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3261730521868672,
          -0.5511723881536116,
          -0.07748951588762354,
          -0.9941990717025189,
          -0.005647286389911608,
          -0.7674842674979754,
          0.32580973626501
        ],
        "act_joint_pos_r": [
          -0.5130556582707584,
          -0.8736502814389376,
          0.15177396118735514,
          -0.9601826382363376,
          0.0537955525995808,
          1.1009583820828062,
          -0.48223943843950917
        ],
        "act_eef_pose_l": [
          534.2854875079825,
          374.30709076978366,
          72.23403144788772,
          1.731852062783119,
          -0.11342366337663522,
          0.7993189354868451
        ],
        "act_eef_pose_r": [
          479.77746440420344,
          -182.37634812687867,
          24.308943346919932,
          1.5084104746121356,
          0.027061971716978307,
          2.877589797036921
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 191,
      "colors": {
        "rgb_main": "colors/000191_rgb_main.jpg",
        "rgb_wrist_0": "colors/000191_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000191_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000191_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.325676303999958,
          -0.5479514713342805,
          -0.07783198877839512,
          -0.99936849203077,
          -0.00677975091708362,
          -0.766733642508211,
          0.32137606456460666
        ],
        "joint_pos_r": [
          -0.48436304645295875,
          -0.8211662438618638,
          0.15631297329564567,
          -0.9673613719493701,
          0.09273311809763991,
          1.0582390946393136,
          -0.5333451466333595
        ],
        "eef_pose_l": [
          533.4419773855101,
          374.24036563314405,
          73.15681156607852,
          1.7300997694120013,
          -0.10875703701035404,
          0.7993494842415714
        ],
        "eef_pose_r": [
          495.75196945868123,
          -211.2705748426864,
          42.5584482277506,
          1.5042821052471673,
          0.09313304041436085,
          2.7808120048458713
        ],
        "joint_status_l": {
          "velocity": [
            0.05364722194567406,
            -0.3478487572370348,
            0.03698598136014919,
            0.558280929835675,
            0.12230256181333665,
            -0.08106510800676148,
            0.4788224215310777
          ],
          "torque": [
            -34.130859375,
            2.109375,
            -12.5244140625,
            0.860595703125,
            -1.5234375,
            -2.1771240234375,
            -0.516357421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.0987106847359946,
            -5.6681088863879125,
            -0.49019885005319175,
            0.7752803753362514,
            -4.205133050020682,
            4.613546974602478,
            5.519253703249127
          ],
          "torque": [
            23.759765625,
            0.322265625,
            9.295654296875,
            -1.46484375,
            1.8585205078125,
            3.372802734375,
            0.66925048828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.3,
            -7.8,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.3,
            -7.8,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.4,
            -17.3,
            -0.9,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.4,
            -17.3,
            -0.9,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -284,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 28,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3273417483592279,
          -0.5517979399073488,
          -0.07741072505762693,
          -0.9925820267052519,
          -0.0109234956187222,
          -0.768508039038949,
          0.33153192585549834
        ],
        "act_joint_pos_r": [
          -0.5197321927669383,
          -0.8869812120110266,
          0.1506499075051379,
          -0.9538657754007474,
          0.05281141009477208,
          1.0946172556709852,
          -0.48718558282067115
        ],
        "act_eef_pose_l": [
          534.4494875079824,
          374.45989076978367,
          72.23323144788769,
          1.7291827440010696,
          -0.11463728428770188,
          0.8000508001611518
        ],
        "act_eef_pose_r": [
          480.22626440420345,
          -177.35874812687868,
          19.456143346919816,
          1.5109521748462804,
          0.023433883078948226,
          2.8783334634447457
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 192,
      "colors": {
        "rgb_main": "colors/000192_rgb_main.jpg",
        "rgb_wrist_0": "colors/000192_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000192_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000192_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3258320459391296,
          -0.5485573071841957,
          -0.07776685817393317,
          -0.9983605289200016,
          -0.006886121053168162,
          -0.7669258504612617,
          0.32249249020318305
        ],
        "joint_pos_r": [
          -0.4903604338786984,
          -0.8322326114396672,
          0.15535839138936425,
          -0.9654617959092088,
          0.08528795052616962,
          1.0657700108715027,
          -0.5241090766894339
        ],
        "eef_pose_l": [
          533.6009489582045,
          374.26119319233345,
          72.99360371187643,
          1.7302540615373694,
          -0.10965210964093176,
          0.79938686156112
        ],
        "eef_pose_r": [
          492.9767109946662,
          -205.29752465045803,
          38.585810119463304,
          1.5057066681941849,
          0.0804128941116408,
          2.799228295150436
        ],
        "joint_status_l": {
          "velocity": [
            0.16304305267267338,
            -0.34997801205038925,
            0.03846124220741043,
            0.6240598335320868,
            -0.4360235932513584,
            -0.1708713268087081,
            0.9762302580775817
          ],
          "torque": [
            -27.89794921875,
            3.33251953125,
            -10.7666015625,
            0.9033203125,
            -3.27392578125,
            -2.2705078125,
            0.4010009765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.172056405126966,
            -5.912674476694413,
            -0.5085012620535956,
            1.2523332793188402,
            -3.5073629224511294,
            3.115410554221043,
            3.9876197292696425
          ],
          "torque": [
            22.4267578125,
            2.02880859375,
            8.197021484375,
            -1.409912109375,
            2.0928955078125,
            2.713623046875,
            0.662841796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.4,
            -16.8,
            -7.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -16.8,
            -7.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.0,
            -16.5,
            -2.3,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            1.0,
            -16.5,
            -2.3,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -246,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 49,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3274186728963911,
          -0.5537452569704686,
          -0.07717476609911111,
          -0.9879560623725755,
          -0.01355951259665972,
          -0.7731195622966188,
          0.33465626356052053
        ],
        "act_joint_pos_r": [
          -0.5264124618746271,
          -0.899837642054355,
          0.14958993361307954,
          -0.9466748146025046,
          0.05868382748439238,
          1.0881694974779452,
          -0.4855674287079035
        ],
        "act_eef_pose_l": [
          534.7486875079824,
          374.47349076978367,
          72.34203144788789,
          1.727208404071282,
          -0.11543454780687712,
          0.7986075432049089
        ],
        "act_eef_pose_r": [
          481.3486644042034,
          -173.0003481268787,
          15.584943346919772,
          1.5087186324390247,
          0.010007595869706362,
          2.8755242667759653
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 193,
      "colors": {
        "rgb_main": "colors/000193_rgb_main.jpg",
        "rgb_wrist_0": "colors/000193_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000193_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000193_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3261367658082417,
          -0.5492378746480109,
          -0.07769174025320481,
          -0.9971298444453377,
          -0.007737131398681985,
          -0.7673125084942097,
          0.3243565895594662
        ],
        "joint_pos_r": [
          -0.49674828642342933,
          -0.8441686551503642,
          0.15433516421260685,
          -0.9626115398092385,
          0.0791808464498575,
          1.0711058382537726,
          -0.5165676777168888
        ],
        "eef_pose_l": [
          533.7763268042063,
          374.3013897169405,
          72.84224010591805,
          1.7300096557621234,
          -0.11066457924647288,
          0.799496768324053
        ],
        "eef_pose_r": [
          490.68820883217677,
          -199.33043635680605,
          34.360389073784404,
          1.5069866500578626,
          0.06802285526892396,
          2.8149824191437007
        ],
        "joint_status_l": {
          "velocity": [
            0.13844188239486854,
            -0.48678293393011884,
            0.05583156197819239,
            0.9907392435666296,
            -0.6287986239575036,
            -0.6271433140572213,
            1.1123319856354286
          ],
          "torque": [
            -25.283203125,
            3.02490234375,
            -9.765625,
            0.5615234375,
            -4.1162109375,
            -2.2430419921875,
            0.63995361328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.203636462522308,
            -6.012073269007878,
            -0.512469790260317,
            1.7211155607377293,
            -2.2136127612517598,
            1.8428208451144457,
            3.3479281511077374
          ],
          "torque": [
            23.51806640625,
            0.556640625,
            8.453369140625,
            -2.593994140625,
            2.464599609375,
            3.1732177734375,
            0.94573974609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.0,
            -7.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.0,
            -7.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.6,
            -16.9,
            -2.1,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.9,
            -2.1,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -282,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 76,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3273332811507433,
          -0.5548025995692425,
          -0.07709186562888576,
          -0.9875296332361938,
          -0.015939565963579774,
          -0.7724717953403402,
          0.3376447880012925
        ],
        "act_joint_pos_r": [
          -0.5342710210145132,
          -0.9165191567607607,
          0.14816616554989834,
          -0.9322241475613294,
          0.0716161426557953,
          1.0825058330379744,
          -0.4854584921148908
        ],
        "act_eef_pose_l": [
          535.1254875079824,
          374.16469076978365,
          72.58203144788767,
          1.7256125058390535,
          -0.11674654847615656,
          0.7989719400076873
        ],
        "act_eef_pose_r": [
          483.93906440420346,
          -168.71794812687867,
          11.29134334692003,
          1.5026762829406313,
          -0.0072104438327207695,
          2.867568305071251
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 194,
      "colors": {
        "rgb_main": "colors/000194_rgb_main.jpg",
        "rgb_wrist_0": "colors/000194_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000194_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000194_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32637782526873577,
          -0.5501056440675185,
          -0.07759278146646896,
          -0.9953893247901439,
          -0.008873133491686185,
          -0.7684006342781787,
          0.32634800496285105
        ],
        "joint_pos_r": [
          -0.5004866167366754,
          -0.8511841564439449,
          0.15373716210657365,
          -0.9606031663409706,
          0.07659777693370524,
          1.0732562298814634,
          -0.5126609731203251
        ],
        "eef_pose_l": [
          533.9661552741219,
          374.3293546930075,
          72.75051301082303,
          1.729459661368262,
          -0.11158130314138494,
          0.7993292433175762
        ],
        "eef_pose_r": [
          489.6174723379953,
          -196.00773229506208,
          31.94064859257483,
          1.5074073916328823,
          0.060714306496471394,
          2.822633306343018
        ],
        "joint_status_l": {
          "velocity": [
            0.10318619194249479,
            -0.5072562334631492,
            0.054097314943990504,
            0.8488216531707948,
            -0.763152198993533,
            -0.43967242726772326,
            1.2200165856857126
          ],
          "torque": [
            -23.78173828125,
            3.80859375,
            -8.984375,
            0.59814453125,
            -4.7332763671875,
            -2.29248046875,
            0.6536865234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.7999086960059927,
            -5.254421475046733,
            -0.4478874675626354,
            1.5042176232276105,
            -1.9346494810894566,
            1.6105853987422591,
            2.926016498297823
          ],
          "torque": [
            25.78857421875,
            1.64794921875,
            9.246826171875,
            -1.129150390625,
            2.548828125,
            3.2611083984375,
            0.76263427734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.3,
            -7.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.3,
            -7.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.0,
            -18.0,
            -2.3,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -18.0,
            -2.3,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -251,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 93,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3264282850694404,
          -0.5560896408321219,
          -0.07700345004798174,
          -0.9875704504246591,
          -0.01660054489360536,
          -0.7714710901880122,
          0.338049538846946
        ],
        "act_joint_pos_r": [
          -0.5378632415106779,
          -0.9244474760860527,
          0.14751269465306557,
          -0.9253054229551654,
          0.07609362985524504,
          1.0793425598868096,
          -0.48356753193470303
        ],
        "act_eef_pose_l": [
          535.5798875079824,
          373.5894907697837,
          73.01963144788787,
          1.724513229529399,
          -0.1171540991815169,
          0.7989022465448578
        ],
        "act_eef_pose_r": [
          485.1286644042035,
          -166.64994812687868,
          8.993743346919928,
          1.5013945165040778,
          -0.01630883161182837,
          2.8640914151888963
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 195,
      "colors": {
        "rgb_main": "colors/000195_rgb_main.jpg",
        "rgb_wrist_0": "colors/000195_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000195_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000195_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3264327754468888,
          -0.5510230350167108,
          -0.07750045617510924,
          -0.9941018340805804,
          -0.010109408763071079,
          -0.7689569917754926,
          0.3282508166379034
        ],
        "joint_pos_r": [
          -0.5063979161803678,
          -0.862713517683897,
          0.15275631863873723,
          -0.9552496156581965,
          0.0762241736635901,
          1.0744621858976173,
          -0.5080009273689755
        ],
        "eef_pose_l": [
          534.2082702338134,
          374.23739680208274,
          72.77163238120818,
          1.7287050364371015,
          -0.11247315633373078,
          0.799256527998049
        ],
        "eef_pose_r": [
          488.97172959388377,
          -191.3576092005466,
          28.256040773999587,
          1.5067152424558123,
          0.04862621375414418,
          2.8296725434442296
        ],
        "joint_status_l": {
          "velocity": [
            -0.00048494646209817915,
            -0.5471772899330318,
            0.05367507866804733,
            0.705368631104264,
            -0.7010220265582234,
            -0.2715146206568875,
            1.0582307877280428
          ],
          "torque": [
            -27.28271484375,
            3.88916015625,
            -11.627197265625,
            1.080322265625,
            -4.95849609375,
            -2.5341796875,
            0.66558837890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.3981549124515453,
            -6.667070872687475,
            -0.5662946884836817,
            3.2338774338116494,
            -0.01409831549370466,
            0.5270648458850502,
            2.638728881753316
          ],
          "torque": [
            26.03759765625,
            0.97412109375,
            8.648681640625,
            -2.25830078125,
            3.4130859375,
            3.87451171875,
            0.692138671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.9,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.9,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -17.2,
            -1.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -17.2,
            -1.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -204,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 131,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3263001279585666,
          -0.5579126892391801,
          -0.07679914788240094,
          -0.9838525004043208,
          -0.017892187393505756,
          -0.7741812528921015,
          0.33944069696643325
        ],
        "act_joint_pos_r": [
          -0.5421753841235932,
          -0.9384579920368411,
          0.1463944156248334,
          -0.9121380393818754,
          0.0736553003129976,
          1.0704719227836437,
          -0.48131560312604116
        ],
        "act_eef_pose_l": [
          535.9822875079824,
          373.59909076978363,
          73.0380314478878,
          1.7235099433168906,
          -0.11747537866908934,
          0.7983567980572605
        ],
        "act_eef_pose_r": [
          487.5494644042035,
          -163.01314812687866,
          3.8473433469198426,
          1.508655064683488,
          -0.024321541925615135,
          2.8580083724093
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 196,
      "colors": {
        "rgb_main": "colors/000196_rgb_main.jpg",
        "rgb_wrist_0": "colors/000196_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000196_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000196_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3264210303662871,
          -0.5520125354612471,
          -0.07740120401880415,
          -0.9927087857384892,
          -0.011287455095304067,
          -0.7696030624800735,
          0.32998116168032837
        ],
        "joint_pos_r": [
          -0.5123901583668543,
          -0.8750221593364764,
          0.151717971984653,
          -0.9486455341702351,
          0.0759585634783407,
          1.0744427573295547,
          -0.5034569090893235
        ],
        "eef_pose_l": [
          534.4686514870491,
          374.1318694504246,
          72.8132369881562,
          1.7279320574144483,
          -0.11326662496896986,
          0.7991458573932396
        ],
        "eef_pose_r": [
          488.70463195067924,
          -186.6855448913906,
          24.291593897228154,
          1.5066348238170062,
          0.036331974901196634,
          2.8351601171827068
        ],
        "joint_status_l": {
          "velocity": [
            -0.013057074935929336,
            -0.6371978148718149,
            0.06502014506493126,
            0.9564506070880441,
            -0.7132900508402679,
            -0.49442998206572497,
            1.0215996804272542
          ],
          "torque": [
            -27.919921875,
            2.70263671875,
            -9.234619140625,
            0.836181640625,
            -4.705810546875,
            -2.4774169921875,
            0.66192626953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.2167095099517873,
            -6.850867876091016,
            -0.5749271302912806,
            3.942693153623722,
            -0.24874508551298025,
            -0.42883748307342984,
            2.391190519639874
          ],
          "torque": [
            22.82958984375,
            0.76904296875,
            8.02001953125,
            -2.1728515625,
            2.431640625,
            2.3455810546875,
            0.662841796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -15.8,
            -8.5,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -15.8,
            -8.5,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -16.9,
            -2.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -16.9,
            -2.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -284,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 83,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32462499673527456,
          -0.5602444911745179,
          -0.07663932347705632,
          -0.9838404048659257,
          -0.018328794603418578,
          -0.7734270285149875,
          0.34013770624730216
        ],
        "act_joint_pos_r": [
          -0.5454980828641798,
          -0.9467625302548673,
          0.14578803306233798,
          -0.905086105502421,
          0.06619732514079235,
          1.0582020520690085,
          -0.481736819347151
        ],
        "act_eef_pose_l": [
          536.6526875079824,
          372.42389076978367,
          73.79083144788778,
          1.721808782120227,
          -0.1185779532699504,
          0.7970686636675665
        ],
        "act_eef_pose_r": [
          489.3358644042035,
          -160.7691481268787,
          -1.075856653080109,
          1.5208404683042298,
          -0.025275771117470886,
          2.851004622199934
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 197,
      "colors": {
        "rgb_main": "colors/000197_rgb_main.jpg",
        "rgb_wrist_0": "colors/000197_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000197_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000197_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.326210627267517,
          -0.553318859365486,
          -0.0772767203952773,
          -0.991141555142047,
          -0.012504495281758184,
          -0.7703274162255713,
          0.3317323395402134
        ],
        "joint_pos_r": [
          -0.5163368249575956,
          -0.883499026802502,
          0.15101185151305488,
          -0.9436350106433906,
          0.07523492096486879,
          1.0732293463915659,
          -0.5006911004871907
        ],
        "eef_pose_l": [
          534.8125809170725,
          373.90560274437274,
          72.93673883994526,
          1.7269604325338965,
          -0.114131074862754,
          0.7988550719131495
        ],
        "eef_pose_r": [
          488.78531073157995,
          -183.61911104229708,
          21.405499563345018,
          1.5076468288821498,
          0.028615679580198814,
          2.837654520206466
        ],
        "joint_status_l": {
          "velocity": [
            -0.17124304693849624,
            -0.7479461758816974,
            0.06883683693392761,
            0.7885009742283344,
            -0.6290057752056377,
            -0.3347482543851754,
            0.9077528316265848
          ],
          "torque": [
            -32.548828125,
            2.2265625,
            -9.991455078125,
            0.811767578125,
            -4.683837890625,
            -2.62939453125,
            0.48065185546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.1493229695946923,
            -6.832256866210251,
            -0.5641557537929831,
            4.16315896941466,
            -0.9760315624881555,
            -1.6228999219620732,
            2.0470019900278302
          ],
          "torque": [
            25.1513671875,
            -0.22705078125,
            8.489990234375,
            -1.13525390625,
            2.149658203125,
            1.552734375,
            0.567626953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.2,
            -8.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.2,
            -8.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.2,
            -17.3,
            -1.5,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -17.3,
            -1.5,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -251,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 89,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3239301439270685,
          -0.561162983337214,
          -0.07652912872023876,
          -0.9815120995550788,
          -0.018378216764882035,
          -0.7754127137235186,
          0.3414349563601574
        ],
        "act_joint_pos_r": [
          -0.5525474906733585,
          -0.9541034703054094,
          0.14527671689097688,
          -0.900610557811737,
          0.06612493483202586,
          1.0507588207848402,
          -0.47719818679733284
        ],
        "act_eef_pose_l": [
          536.8990875079825,
          372.5038907697837,
          74.05883144788781,
          1.7212434842051307,
          -0.12015716182921511,
          0.7963986161470621
        ],
        "act_eef_pose_r": [
          489.5134644042035,
          -158.36994812687868,
          -5.8414566530800585,
          1.5253728074605555,
          -0.038055633867214285,
          2.847130094156966
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 198,
      "colors": {
        "rgb_main": "colors/000198_rgb_main.jpg",
        "rgb_wrist_0": "colors/000198_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000198_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000198_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3259704256384279,
          -0.554245012757225,
          -0.07718999114780639,
          -0.9900861543292026,
          -0.013241355391721688,
          -0.7708334224282171,
          0.33286698120712327
        ],
        "joint_pos_r": [
          -0.5220010551429568,
          -0.8952138406817838,
          0.1500513697043922,
          -0.9364965453202222,
          0.07363177857639977,
          1.0700357244307166,
          -0.4970125808904479
        ],
        "eef_pose_l": [
          535.0593209956235,
          373.724003224386,
          73.05900133417018,
          1.7262796833307388,
          -0.11478040906280447,
          0.7985870969780349
        ],
        "eef_pose_r": [
          489.0636028545565,
          -179.46952107308735,
          17.06376351020228,
          1.5103312402630316,
          0.01813203344216945,
          2.839787945353588
        ],
        "joint_status_l": {
          "velocity": [
            -0.2203439261303508,
            -0.7471187875478513,
            0.07137103720111782,
            0.9259706055626538,
            -0.5547646663920935,
            -0.49454887395317115,
            0.9253140258489445
          ],
          "torque": [
            -33.984375,
            2.10205078125,
            -10.455322265625,
            1.287841796875,
            -5.0042724609375,
            -2.5048828125,
            0.5548095703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.298917740905516,
            -6.359892424351088,
            -0.5156472956449054,
            3.875572347020295,
            -0.8107152136253015,
            -2.081844193042137,
            2.139891449331799
          ],
          "torque": [
            23.3642578125,
            1.58935546875,
            8.514404296875,
            -2.386474609375,
            2.640380859375,
            1.292724609375,
            0.89447021484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.3,
            -8.1,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.3,
            -8.1,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.9,
            -16.9,
            -0.4,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.9,
            -0.4,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -290,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 87,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32321477270379534,
          -0.5615627021527783,
          -0.07634643701469167,
          -0.974050618943584,
          -0.01346546722252529,
          -0.7825215723780463,
          0.3380467498562642
        ],
        "act_joint_pos_r": [
          -0.5592809993097809,
          -0.9605931472765963,
          0.14477445386362547,
          -0.8915041384686314,
          0.06370077970419352,
          1.044347617697829,
          -0.4737450453218299
        ],
        "act_eef_pose_l": [
          536.8422875079824,
          374.02229076978364,
          73.62523144788774,
          1.724204377023107,
          -0.12059360443362835,
          0.7952242687684397
        ],
        "act_eef_pose_r": [
          490.38946440420347,
          -157.55394812687868,
          -11.427856653080198,
          1.5337405204955217,
          -0.04793180411673638,
          2.8400174079031846
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 199,
      "colors": {
        "rgb_main": "colors/000199_rgb_main.jpg",
        "rgb_wrist_0": "colors/000199_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000199_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000199_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32554316667510536,
          -0.5555759932832296,
          -0.07705444746906465,
          -0.9880317550231675,
          -0.013926933840470302,
          -0.7721121725284825,
          0.3342897582512848
        ],
        "joint_pos_r": [
          -0.5287217705600559,
          -0.9076129798506389,
          0.14904812568832826,
          -0.9284983314696619,
          0.07191407107529128,
          1.0656088140867204,
          -0.49273164542901465
        ],
        "eef_pose_l": [
          535.4049459638584,
          373.58235080552083,
          73.22150918763646,
          1.7255005627564641,
          -0.11581897249481421,
          0.798101339216311
        ],
        "eef_pose_r": [
          489.4077901915744,
          -175.21739011890165,
          11.963867103054042,
          1.5140612564940534,
          0.005939045638458686,
          2.840730231527101
        ],
        "joint_status_l": {
          "velocity": [
            -0.25145913251067853,
            -0.6465454890709488,
            0.07646287392037987,
            1.5099181639399717,
            0.049836924876547894,
            -1.1241820277758663,
            0.405743126584035
          ],
          "torque": [
            -35.7568359375,
            1.787109375,
            -10.85205078125,
            1.91650390625,
            -4.0887451171875,
            -2.8802490234375,
            0.65277099609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.3002993678432624,
            -5.72168932979622,
            -0.46154294458644607,
            3.9952550103636852,
            -0.8870093071374763,
            -2.296141488927539,
            2.050492335537335
          ],
          "torque": [
            24.39697265625,
            0.2197265625,
            7.916259765625,
            -1.42822265625,
            2.1221923828125,
            0.615234375,
            0.76629638671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.8,
            -8.3,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.8,
            -8.3,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.3,
            -16.4,
            -3.0,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.4,
            -3.0,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -297,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 53,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3232341949380173,
          -0.5604053806319264,
          -0.07645283708526512,
          -0.9753139047844162,
          -0.013066469327707,
          -0.7806080899088477,
          0.3381688665651303
        ],
        "act_joint_pos_r": [
          -0.5633049117790572,
          -0.9655450025131227,
          0.14437149237926272,
          -0.8821704858152238,
          0.06019886284866072,
          1.0351774986193203,
          -0.46929359867576775
        ],
        "act_eef_pose_l": [
          536.7702875079824,
          374.4670907697837,
          73.63323144788778,
          1.7248120230197708,
          -0.12133523604879412,
          0.7967724115238849
        ],
        "act_eef_pose_r": [
          492.3622644042035,
          -157.7571481268787,
          -16.20065665308016,
          1.544385053599628,
          -0.05535824198981527,
          2.8292638493629436
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 200,
      "colors": {
        "rgb_main": "colors/000200_rgb_main.jpg",
        "rgb_wrist_0": "colors/000200_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000200_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000200_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3251041425017216,
          -0.5566404515361099,
          -0.07692679012607351,
          -0.9854622111655994,
          -0.013816513856955074,
          -0.7739687430155147,
          0.335007065146077
        ],
        "joint_pos_r": [
          -0.5344150302389953,
          -0.9173373562760966,
          0.14826345035340843,
          -0.9212844744608693,
          0.07020939778333521,
          1.061188474202716,
          -0.4890536978232844
        ],
        "eef_pose_l": [
          535.6739869884991,
          373.69204920205885,
          73.29746547757776,
          1.7252895217149058,
          -0.1167641311701301,
          0.7976470379701014
        ],
        "eef_pose_r": [
          489.86700562233153,
          -172.15037079701128,
          7.484083461525302,
          1.518252872280409,
          -0.00418092800361402,
          2.8399141929001837
        ],
        "joint_status_l": {
          "velocity": [
            -0.2019483807309541,
            -0.40660035031159225,
            0.051185418774024605,
            1.0959847648246424,
            0.08100242012012981,
            -0.7170283168598246,
            0.3414644823007684
          ],
          "torque": [
            -35.9326171875,
            2.89306640625,
            -14.666748046875,
            0.146484375,
            -3.277587890625,
            -2.38037109375,
            0.6683349609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.1200151863974845,
            -5.2062722428072306,
            -0.42031906455974877,
            4.224186188018564,
            -1.0811058874311552,
            -2.8091025129572955,
            2.1340277681471953
          ],
          "torque": [
            23.3935546875,
            1.92626953125,
            8.5205078125,
            -1.910400390625,
            2.091064453125,
            1.1590576171875,
            0.87890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.7,
            -8.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.7,
            -8.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -16.3,
            -2.8,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -16.3,
            -2.8,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -249,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 72,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32322844064123407,
          -0.5594148555869795,
          -0.07656483259691203,
          -0.977379935289326,
          -0.012778471093239051,
          -0.7789647024191667,
          0.33813246130886443
        ],
        "act_joint_pos_r": [
          -0.5643464122594875,
          -0.9682279099469251,
          0.1441630606822182,
          -0.8769683996039279,
          0.05702563828672558,
          1.0306408843800339,
          -0.46775553857645347
        ],
        "act_eef_pose_l": [
          536.5966875079823,
          374.4742907697837,
          73.71483144788776,
          1.7250497461463143,
          -0.12166553467756698,
          0.7972243116143266
        ],
        "act_eef_pose_r": [
          493.53666440420346,
          -157.86114812687867,
          -18.3966566530803,
          1.5506241422149762,
          -0.056684602873163896,
          2.8241332470133065
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 201,
      "colors": {
        "rgb_main": "colors/000201_rgb_main.jpg",
        "rgb_wrist_0": "colors/000201_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000201_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000201_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32475023818141907,
          -0.5572807441475457,
          -0.07684527049984476,
          -0.9836927693818122,
          -0.013653962453697452,
          -0.7751053346475761,
          0.3356021379682769
        ],
        "joint_pos_r": [
          -0.5395835255413116,
          -0.9260167765865264,
          0.14756320754279695,
          -0.9140665003251284,
          0.06825505565069506,
          1.0563258933665838,
          -0.4854705698291078
        ],
        "eef_pose_l": [
          535.8694750254805,
          373.8393512915396,
          73.36640577623317,
          1.725215551094926,
          -0.11765225980269871,
          0.797514150001496
        ],
        "eef_pose_r": [
          490.4989824233794,
          -169.6403919650795,
          3.1762050457599855,
          1.523157615106584,
          -0.01338177446872285,
          2.837823862352976
        ],
        "joint_status_l": {
          "velocity": [
            -0.16434928711683838,
            -0.2304772378960429,
            0.030286400267143243,
            0.6817659743765248,
            0.09455027831811735,
            -0.4167994264898667,
            0.273266861207766
          ],
          "torque": [
            -36.84814453125,
            1.89697265625,
            -14.935302734375,
            0.23193359375,
            -3.0633544921875,
            -2.4627685546875,
            0.70587158203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.6743128909205716,
            -4.558667952198725,
            -0.3672050308092256,
            4.006476713175999,
            -1.2127413074158322,
            -2.7738991587655804,
            1.9131669494436565
          ],
          "torque": [
            24.47021484375,
            0.76904296875,
            8.9111328125,
            -0.726318359375,
            2.0361328125,
            1.1663818359375,
            0.9613037109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.6,
            -8.1,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.6,
            -8.1,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.2,
            -2.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.2,
            -2.1,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -248,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 62,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3224245382816892,
          -0.5572436844588735,
          -0.07685177810791062,
          -0.9838791982242103,
          -0.010222144072410334,
          -0.7765043175011489,
          0.33639632596084773
        ],
        "act_joint_pos_r": [
          -0.5642875785495254,
          -0.9775417410486801,
          0.14334274450912843,
          -0.8579641422829808,
          0.054394084040370494,
          1.029011607057913,
          -0.46482475043201593
        ],
        "act_eef_pose_l": [
          535.8734875079824,
          373.5550907697837,
          74.21323144788771,
          1.7256210048802525,
          -0.12213799528735894,
          0.7949699288454731
        ],
        "act_eef_pose_r": [
          496.9510644042035,
          -158.00834812687867,
          -21.673456653080166,
          1.5583761307613706,
          -0.05941197643040376,
          2.81494983155128
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 202,
      "colors": {
        "rgb_main": "colors/000202_rgb_main.jpg",
        "rgb_wrist_0": "colors/000202_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000202_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000202_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3243798624272192,
          -0.5573844582787839,
          -0.07683184808684879,
          -0.9833956555143454,
          -0.013177015501452418,
          -0.7754776413842619,
          0.33583072965039623
        ],
        "joint_pos_r": [
          -0.5436518454295374,
          -0.9333650308904636,
          0.14696822176984325,
          -0.9071333288031949,
          0.06629344859026837,
          1.0520318612665567,
          -0.4824296196790569
        ],
        "eef_pose_l": [
          535.9071138369521,
          373.83570279750955,
          73.49082772204392,
          1.725257264644133,
          -0.11842135972725297,
          0.7971786340612258
        ],
        "eef_pose_r": [
          491.24411245527574,
          -167.72901912817343,
          -0.5054218150480381,
          1.5279365537487082,
          -0.020695775736209808,
          2.8352463742175864
        ],
        "joint_status_l": {
          "velocity": [
            -0.21116877962734648,
            0.015203124158702508,
            -0.002152378793640608,
            -0.05222107248670227,
            0.3191167024925168,
            -0.11087775045925952,
            0.06108259999360044
          ],
          "torque": [
            -37.65380859375,
            5.9326171875,
            -14.88037109375,
            -1.611328125,
            -2.6806640625,
            -2.303466796875,
            0.6390380859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.228593448108107,
            -4.770943985615617,
            -0.39153999630237024,
            5.310115530696713,
            -1.2850934695831095,
            -2.4861141305168033,
            1.9012698037252918
          ],
          "torque": [
            24.6533203125,
            1.2744140625,
            9.06982421875,
            -2.5146484375,
            2.2393798828125,
            1.2725830078125,
            0.76995849609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.5,
            -8.8,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.5,
            -8.8,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.7,
            -1.7,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.7,
            -1.7,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -263,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 145,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3212401410695334,
          -0.5582266447491677,
          -0.07666019753933977,
          -0.978025241784255,
          -0.008122640240827992,
          -0.7816399865491361,
          0.33517128208729596
        ],
        "act_joint_pos_r": [
          -0.5653396629190768,
          -0.9834619645389883,
          0.14282776959890936,
          -0.8451548966028501,
          0.054892881796591464,
          1.0228318111304233,
          -0.46470473867476697
        ],
        "act_eef_pose_l": [
          536.1294875079824,
          374.4566907697837,
          74.37403144788782,
          1.7263079267724353,
          -0.12303418500976064,
          0.7942700377658187
        ],
        "act_eef_pose_r": [
          500.0118644042035,
          -158.6731481268787,
          -24.596656653080117,
          1.564998811727048,
          -0.061528480328515364,
          2.8029700538685134
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 203,
      "colors": {
        "rgb_main": "colors/000203_rgb_main.jpg",
        "rgb_wrist_0": "colors/000203_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000203_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000203_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32392476553136174,
          -0.5574722357336788,
          -0.07681350599711402,
          -0.9828145707085044,
          -0.012454334479187933,
          -0.7762259455447741,
          0.3357854736366946
        ],
        "joint_pos_r": [
          -0.5471346228852141,
          -0.9411359394912376,
          0.14632798115399148,
          -0.8979500107868208,
          0.06438008822665801,
          1.0477166817552472,
          -0.4795251539655945
        ],
        "eef_pose_l": [
          535.9308848663532,
          373.8911265796067,
          73.62807199999753,
          1.7253915512658655,
          -0.11913513985177811,
          0.796736512870057
        ],
        "eef_pose_r": [
          492.5457964683046,
          -166.20059794405378,
          -4.2215799193966745,
          1.533396764238384,
          -0.027346193536856633,
          2.8309567208528486
        ],
        "joint_status_l": {
          "velocity": [
            -0.28993089082307577,
            -0.08147377073219886,
            0.016556825122249208,
            0.5172322688693498,
            0.46780918044862785,
            -0.5846991836904181,
            -0.0663307310149186
          ],
          "torque": [
            -37.7783203125,
            1.7724609375,
            -14.959716796875,
            0.20751953125,
            -2.3236083984375,
            -2.3345947265625,
            -0.263671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.966086337040096,
            -4.571075888479825,
            -0.37801169908968646,
            5.7017041690929915,
            -1.0245880758372183,
            -2.6874867642963096,
            1.6005576454851678
          ],
          "torque": [
            25.927734375,
            0.6884765625,
            8.87451171875,
            -1.8798828125,
            2.354736328125,
            1.3751220703125,
            0.615234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.4,
            -8.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.4,
            -8.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.5,
            -17.2,
            -2.6,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -17.2,
            -2.6,
            1.1,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -234,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 51,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3206184757189698,
          -0.5570725210980257,
          -0.07678032228222637,
          -0.9799444434981075,
          -0.006215622184764911,
          -0.7806414458566573,
          0.33429271479588557
        ],
        "act_joint_pos_r": [
          -0.5658957297969622,
          -0.9887354808390268,
          0.14240674282475738,
          -0.8352092908116677,
          0.05853820696390244,
          1.0141082596237778,
          -0.46954714017508997
        ],
        "act_eef_pose_l": [
          535.8974875079824,
          374.5030907697837,
          74.59323144788759,
          1.7271467624910761,
          -0.12401351986877927,
          0.7940425287612856
        ],
        "act_eef_pose_r": [
          503.2974644042034,
          -159.16434812687868,
          -26.635856653080054,
          1.5693497871541664,
          -0.059779796648283805,
          2.7895080017319733
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 204,
      "colors": {
        "rgb_main": "colors/000204_rgb_main.jpg",
        "rgb_wrist_0": "colors/000204_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000204_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000204_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32337995088359733,
          -0.5574753870186718,
          -0.07679995498805495,
          -0.9821843452307826,
          -0.011473261219797326,
          -0.7770705153591716,
          0.3355777393936259
        ],
        "joint_pos_r": [
          -0.5504087363174884,
          -0.9491440679222797,
          0.14566723681134433,
          -0.8876261490542022,
          0.06306525337812,
          1.0424491376021507,
          -0.47738643039451706
        ],
        "eef_pose_l": [
          535.9402189753833,
          373.99605178112495,
          73.78521279537787,
          1.7256445301732983,
          -0.11993720404321342,
          0.796274533349198
        ],
        "eef_pose_r": [
          494.2927365597533,
          -164.92074016233056,
          -8.007341718997594,
          1.5392752816027735,
          -0.03334546853086096,
          2.824726022709768
        ],
        "joint_status_l": {
          "velocity": [
            -0.29823052194100086,
            0.043508236223122054,
            0.002120269695482513,
            0.24190225260412035,
            0.5678082691737696,
            -0.3856491196145839,
            -0.13877856350141826
          ],
          "torque": [
            -37.18505859375,
            6.08642578125,
            -14.892578125,
            0.98876953125,
            -1.9390869140625,
            -2.135009765625,
            -0.30853271484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.6725459666764309,
            -4.275746488605847,
            -0.35212296523967623,
            5.660853732238458,
            -0.48890659320632857,
            -3.0607245504192804,
            0.8466183740241107
          ],
          "torque": [
            25.72998046875,
            0.27099609375,
            8.172607421875,
            -2.203369140625,
            2.1624755859375,
            1.4923095703125,
            0.4595947265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.5,
            -7.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.5,
            -7.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.6,
            -1.8,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.6,
            -1.8,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -272,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 164,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3208606633430553,
          -0.5566495524230799,
          -0.07682783101944955,
          -0.9808061604603454,
          -0.007689007497716361,
          -0.7799869156059739,
          0.3357351071275958
        ],
        "act_joint_pos_r": [
          -0.5658666713245446,
          -0.9909656352831862,
          0.14225000536959806,
          -0.8311498866066052,
          0.059785009755277674,
          1.0095893753300564,
          -0.4737178780930085
        ],
        "act_eef_pose_l": [
          535.8414875079824,
          374.5174907697837,
          74.7188314478879,
          1.7263162820375526,
          -0.1243590170634459,
          0.7945060848979529
        ],
        "act_eef_pose_r": [
          504.8286644042035,
          -159.38274812687868,
          -27.467856653080162,
          1.5716649480678124,
          -0.05649841964013681,
          2.7833304320347714
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 205,
      "colors": {
        "rgb_main": "colors/000205_rgb_main.jpg",
        "rgb_wrist_0": "colors/000205_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000205_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000205_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3229533063804549,
          -0.5573614287607018,
          -0.07680208848281776,
          -0.9819133544070429,
          -0.010775190840952097,
          -0.7775837006378323,
          0.33552925096574504
        ],
        "joint_pos_r": [
          -0.553144076656729,
          -0.9563659853344765,
          0.1450751641408251,
          -0.8779546383866066,
          0.062388847005791705,
          1.0369887603714554,
          -0.4764152212718285
        ],
        "eef_pose_l": [
          535.9271010631286,
          374.08086719900354,
          73.93251248511538,
          1.7257958420052117,
          -0.12064732004158793,
          0.7959597196943784
        ],
        "eef_pose_r": [
          496.1194073192853,
          -163.91994750188684,
          -11.365636170647747,
          1.544692000185072,
          -0.03781478997195561,
          2.8179103761035718
        ],
        "joint_status_l": {
          "velocity": [
            -0.2259987825614651,
            0.07688037699793426,
            -0.002780111961087073,
            0.1195734196137721,
            0.333297970971258,
            -0.2595395618492091,
            0.02223180978733197
          ],
          "torque": [
            -38.3935546875,
            8.13720703125,
            -15.081787109375,
            0.830078125,
            -1.966552734375,
            -2.1075439453125,
            0.2197265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.3739997001689375,
            -3.736651987800599,
            -0.3051081486087348,
            5.054764109941878,
            -0.2812061293240853,
            -2.959046312065894,
            0.291304471746745
          ],
          "torque": [
            25.34912109375,
            0.05126953125,
            8.038330078125,
            -2.532958984375,
            2.2265625,
            1.3751220703125,
            0.39093017578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.6,
            -8.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.6,
            -8.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.4,
            -1.4,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.4,
            -1.4,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -259,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 93,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3214424894047778,
          -0.5575838902521792,
          -0.07669472782553899,
          -0.9775706951351124,
          -0.010187212034784654,
          -0.7821481088212473,
          0.3377977759712765
        ],
        "act_joint_pos_r": [
          -0.5653089556152859,
          -0.9939298378227313,
          0.1420037873662562,
          -0.824070897025634,
          0.06201042799941403,
          1.0059096283929918,
          -0.47772637572174576
        ],
        "act_eef_pose_l": [
          536.0758875079824,
          374.9254907697837,
          74.59403144788784,
          1.7251393803596118,
          -0.12426260624522632,
          0.7951018185361207
        ],
        "act_eef_pose_r": [
          506.98546440420347,
          -160.03714812687866,
          -28.247856653080134,
          1.5738118417213984,
          -0.053396500654122755,
          2.7754950591369916
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 206,
      "colors": {
        "rgb_main": "colors/000206_rgb_main.jpg",
        "rgb_wrist_0": "colors/000206_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000206_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000206_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32275097641940936,
          -0.5573353927954916,
          -0.07679725874531931,
          -0.9816004033209793,
          -0.010572107328334952,
          -0.7779804726734457,
          0.3356723415997466
        ],
        "joint_pos_r": [
          -0.5553306041374212,
          -0.9628179833075879,
          0.14454786838435627,
          -0.868880351614516,
          0.062179589167206346,
          1.0317290857164503,
          -0.47639063851096947
        ],
        "eef_pose_l": [
          535.9312356737789,
          374.15381911024133,
          74.01401600126897,
          1.7257856683084747,
          -0.1210607539936004,
          0.7958301581841627
        ],
        "eef_pose_r": [
          497.9690035569151,
          -163.18214587191275,
          -14.285661773089402,
          1.549591259329468,
          -0.04087592025577787,
          2.810914456806535
        ],
        "joint_status_l": {
          "velocity": [
            -0.1413124297928725,
            -0.02683693380900465,
            0.011073012755269396,
            0.4351956486647879,
            0.04156746573656667,
            -0.4500914292249192,
            0.22954014220077923
          ],
          "torque": [
            -37.94677734375,
            5.22216796875,
            -15.118408203125,
            1.885986328125,
            -2.8546142578125,
            -2.1697998046875,
            0.25360107421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.0776301766060037,
            -3.3599811902869092,
            -0.2747526465587402,
            4.839278368713451,
            -0.01826886731015609,
            -2.7884191509066625,
            -0.14425536417883578
          ],
          "torque": [
            24.9755859375,
            0.50537109375,
            7.8369140625,
            -3.5888671875,
            3.2391357421875,
            1.439208984375,
            -0.52001953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.4,
            -8.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.4,
            -8.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.3,
            -1.1,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.3,
            -1.1,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 80,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3222677824205212,
          -0.5575659975774956,
          -0.07671376293011851,
          -0.978410225755148,
          -0.012180301434155948,
          -0.7809371516228555,
          0.3387436296820139
        ],
        "act_joint_pos_r": [
          -0.5650361840234894,
          -0.9967661334840854,
          0.14179185491198695,
          -0.8190918722711982,
          0.06365058269637691,
          1.0024887351520255,
          -0.48142115489225756
        ],
        "act_eef_pose_l": [
          536.0846875079824,
          374.8110907697837,
          74.42443144788767,
          1.7244158599963184,
          -0.12334927081471253,
          0.7959341628844343
        ],
        "act_eef_pose_r": [
          508.56066440420346,
          -160.1347481268787,
          -28.91665665308028,
          1.5753946536418622,
          -0.050632150966980566,
          2.769896101297946
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 207,
      "colors": {
        "rgb_main": "colors/000207_rgb_main.jpg",
        "rgb_wrist_0": "colors/000207_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000207_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000207_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3225587414955811,
          -0.5573838249531637,
          -0.07677827625472979,
          -0.9808621969181458,
          -0.01066588920192237,
          -0.778714513904688,
          0.3361809680980446
        ],
        "joint_pos_r": [
          -0.5572991753121643,
          -0.969468341128,
          0.14400683452747828,
          -0.8591777746191898,
          0.062373562980334356,
          1.0260616828888434,
          -0.47717282618364737
        ],
        "eef_pose_l": [
          535.9613115428959,
          374.29915480152806,
          74.11593408525485,
          1.7255936507067333,
          -0.12162588329931609,
          0.7957547563880553
        ],
        "eef_pose_r": [
          500.0607525141317,
          -162.5509075081015,
          -17.173035728327164,
          1.5545776995610059,
          -0.04311127619778654,
          2.803000454338614
        ],
        "joint_status_l": {
          "velocity": [
            -0.03142265334510341,
            -0.019674063172381295,
            0.0069672335704096255,
            0.26480507559512034,
            -0.16355169738174746,
            -0.24003779402548275,
            0.2767592884898029
          ],
          "torque": [
            -35.0244140625,
            4.22607421875,
            -15.264892578125,
            1.129150390625,
            -3.6456298828125,
            -2.1533203125,
            0.68572998046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.8355722969355384,
            -2.948074625643393,
            -0.23921074332933223,
            4.329149772136276,
            0.13791406177476873,
            -2.5458032711229706,
            -0.4588059687709034
          ],
          "torque": [
            26.07421875,
            0.1611328125,
            7.769775390625,
            -2.3193359375,
            4.207763671875,
            1.146240234375,
            -0.655517578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.5,
            -7.7,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.5,
            -7.7,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.4,
            -1.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.4,
            -1.6,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -257,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 108,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32391632271103593,
          -0.5552004257462917,
          -0.07703521902278482,
          -0.9858299306601287,
          -0.014740765796149123,
          -0.7748769262945294,
          0.34051943698769666
        ],
        "act_joint_pos_r": [
          -0.5640167029305228,
          -0.9988392013651767,
          0.14163640570230332,
          -0.8150598135256573,
          0.06291655449526523,
          0.9988178191561785,
          -0.4832349547207757
        ],
        "act_eef_pose_l": [
          535.5254875079825,
          374.22309076978365,
          74.22603144788768,
          1.7238281469696302,
          -0.12258608901861642,
          0.797372902663376
        ],
        "act_eef_pose_r": [
          510.0254644042035,
          -160.33954812687867,
          -29.449456653080006,
          1.5784401154668155,
          -0.04765999061809304,
          2.765192290959855
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 208,
      "colors": {
        "rgb_main": "colors/000208_rgb_main.jpg",
        "rgb_wrist_0": "colors/000208_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000208_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000208_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32261909689170015,
          -0.5572498951045541,
          -0.07678848119780003,
          -0.9809041182209585,
          -0.011155027367865758,
          -0.7787244981489773,
          0.33682431738712304
        ],
        "joint_pos_r": [
          -0.5580535938618517,
          -0.9722143174098835,
          0.14378421190238236,
          -0.8551307251909714,
          0.06248967787293564,
          1.0236624626862951,
          -0.4776223314113968
        ],
        "eef_pose_l": [
          535.9459606750936,
          374.35966424420536,
          74.16362082802183,
          1.7253138902218106,
          -0.12191768805749208,
          0.7958940325032395
        ],
        "eef_pose_r": [
          500.95099664062445,
          -162.30815267516488,
          -18.344259410936985,
          1.5566538696557226,
          -0.04385578335147206,
          2.7996300676546935
        ],
        "joint_status_l": {
          "velocity": [
            0.14009625656985492,
            0.2213361627312338,
            -0.02664689919007479,
            -0.5319720537526607,
            -0.3872483289756451,
            0.4155255050113382,
            0.3990611471826888
          ],
          "torque": [
            -31.53076171875,
            7.96875,
            -15.374755859375,
            -1.8310546875,
            -4.0777587890625,
            -0.85693359375,
            0.6134033203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.6439967857465589,
            -2.8754026617026085,
            -0.2319562284252008,
            4.3275308261545575,
            0.04610131552595931,
            -2.683142366199043,
            -0.6061454401082855
          ],
          "torque": [
            26.103515625,
            0.8349609375,
            8.203125,
            -2.94189453125,
            4.3414306640625,
            1.46484375,
            -0.64910888671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.5,
            -16.4,
            -9.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -16.4,
            -9.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.8,
            -1.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.8,
            -1.6,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -230,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 83,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3251741362109295,
          -0.553529946939551,
          -0.07719283192664213,
          -0.9877322171617322,
          -0.01585826094890944,
          -0.773159367534606,
          0.3407838202611849
        ],
        "act_joint_pos_r": [
          -0.5626085090752175,
          -1.001745778804177,
          0.1413563536363526,
          -0.8062228666798779,
          0.06288521411342263,
          1.000214625171022,
          -0.48430089664868997
        ],
        "act_eef_pose_l": [
          535.1550875079824,
          374.6902907697837,
          73.86363144788793,
          1.7241609232717052,
          -0.12159158544219717,
          0.7990095674132973
        ],
        "act_eef_pose_r": [
          511.71506440420353,
          -161.15794812687867,
          -29.866256653079972,
          1.5802379351842069,
          -0.04538223260414974,
          2.761163162711587
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 209,
      "colors": {
        "rgb_main": "colors/000209_rgb_main.jpg",
        "rgb_wrist_0": "colors/000209_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000209_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000209_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3229054460388818,
          -0.5568159007354473,
          -0.07683820259751242,
          -0.9818244402735719,
          -0.011809443446042832,
          -0.7779921683093115,
          0.3374471410718259
        ],
        "joint_pos_r": [
          -0.559139315347941,
          -0.9773331218412499,
          0.14336993823653088,
          -0.8472952380571855,
          0.06256944916383624,
          1.0190070952532344,
          -0.47871475965052607
        ],
        "eef_pose_l": [
          535.8555850251927,
          374.36435145853176,
          74.15293476626633,
          1.7250868686862353,
          -0.12197105704891753,
          0.796231907112744
        ],
        "eef_pose_r": [
          502.7536048949525,
          -161.94816394555056,
          -20.450483961710745,
          1.5607676625242233,
          -0.04458052671564748,
          2.7929811032704612
        ],
        "joint_status_l": {
          "velocity": [
            0.24501131235865614,
            0.35487254355093256,
            -0.038298837982231326,
            -0.6380210864946889,
            -0.437259394033121,
            0.5219270902516726,
            0.3603507244740456
          ],
          "torque": [
            -27.041015625,
            9.287109375,
            -15.49072265625,
            -3.50341796875,
            -4.4659423828125,
            -0.3387451171875,
            0.60882568359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.37466187248469396,
            -2.6364891929038237,
            -0.21746072315820264,
            4.435685285205437,
            0.0341016087820889,
            -2.02952691118341,
            -0.6032850028616643
          ],
          "torque": [
            26.015625,
            1.552734375,
            8.258056640625,
            -2.3193359375,
            3.4405517578125,
            1.28173828125,
            -0.79742431640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -16.5,
            -8.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.5,
            -8.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.5,
            -1.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.5,
            -1.1,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -253,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 103,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3254966531921913,
          -0.5529374810425112,
          -0.07724019867525554,
          -0.9879872400523013,
          -0.015686354489053714,
          -0.7731887053407653,
          0.3401523770164378
        ],
        "act_joint_pos_r": [
          -0.5617494406094393,
          -1.0040052821347936,
          0.1411584689875033,
          -0.8001776176880091,
          0.06387184034906701,
          1.0016027179962153,
          -0.4855027363898429
        ],
        "act_eef_pose_l": [
          534.9878875079824,
          374.9158907697837,
          73.72763144788773,
          1.7245300600831592,
          -0.12096144241408946,
          0.7993111109267438
        ],
        "act_eef_pose_r": [
          512.8350644042034,
          -161.56834812687867,
          -29.999856653080087,
          1.5804220112152703,
          -0.04404253209530617,
          2.7586322619891894
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 210,
      "colors": {
        "rgb_main": "colors/000210_rgb_main.jpg",
        "rgb_wrist_0": "colors/000210_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000210_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000210_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3232925688223668,
          -0.5562496919540827,
          -0.0768985817293248,
          -0.9828068484897768,
          -0.012467502292659102,
          -0.7771989665308001,
          0.3379679508954203
        ],
        "joint_pos_r": [
          -0.5597574026200665,
          -0.9820472268440144,
          0.14298060759678016,
          -0.8392656091960583,
          0.06267246008222149,
          1.0155155683621935,
          -0.4798235156502723
        ],
        "eef_pose_l": [
          535.7334019899249,
          374.4278921288756,
          74.0994472745947,
          1.7249484352149043,
          -0.12188209428250718,
          0.7967016352927551
        ],
        "eef_pose_r": [
          504.52781041773505,
          -161.80598094069435,
          -22.23551170579296,
          1.5644176875012579,
          -0.04473214532200734,
          2.786835613203952
        ],
        "joint_status_l": {
          "velocity": [
            0.238034091500694,
            0.3577082284098587,
            -0.0368935420436145,
            -0.5594657881911047,
            -0.34762578453614856,
            0.4330954350564298,
            0.23591106324483135
          ],
          "torque": [
            -25.7080078125,
            9.7412109375,
            -15.85693359375,
            -3.90625,
            -4.581298828125,
            -0.1702880859375,
            0.60516357421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.21513375782067357,
            -2.3714000306984673,
            -0.19678516593368833,
            4.221378579963186,
            0.12952924855830217,
            -1.5025435243734009,
            -0.6133377504435877
          ],
          "torque": [
            24.6533203125,
            1.13525390625,
            8.062744140625,
            -2.44140625,
            3.7353515625,
            1.26708984375,
            -0.8203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.5,
            -8.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.5,
            -8.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.7,
            -1.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.7,
            -1.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 114,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3268489841679534,
          -0.5487727382702903,
          -0.07765534456134475,
          -0.993514731823586,
          -0.01789697601899921,
          -0.7687807003592911,
          0.3417453080111596
        ],
        "act_joint_pos_r": [
          -0.5614971816137392,
          -1.003985825142982,
          0.14115308901771492,
          -0.7990411518686835,
          0.06776874608771566,
          0.9984686861308784,
          -0.48984284801012123
        ],
        "act_eef_pose_l": [
          534.2222875079824,
          375.7934907697837,
          73.74123144788773,
          1.724347873401377,
          -0.12093530818113618,
          0.8025926608462086
        ],
        "act_eef_pose_r": [
          513.9454644042034,
          -162.24194812687867,
          -29.78465665308022,
          1.5796356401451104,
          -0.04145939150678713,
          2.753312182520146
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 211,
      "colors": {
        "rgb_main": "colors/000211_rgb_main.jpg",
        "rgb_wrist_0": "colors/000211_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000211_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000211_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3238167793434358,
          -0.5552498182346898,
          -0.07700027504709232,
          -0.9842725783596042,
          -0.013256502340651372,
          -0.7760514755286956,
          0.33851261700251717
        ],
        "joint_pos_r": [
          -0.5600702256592206,
          -0.985655898086764,
          0.14268074387840546,
          -0.8327736859015101,
          0.06309608096008404,
          1.013046242728578,
          -0.4810093560078818
        ],
        "eef_pose_l": [
          535.5262297240569,
          374.6018827063064,
          74.03494371502299,
          1.7248518953755396,
          -0.1217180705832651,
          0.7974896187415328
        ],
        "eef_pose_r": [
          505.9798626904508,
          -161.79745954517801,
          -23.499846193854125,
          1.5669770240594991,
          -0.04450817807434327,
          2.7818739008427165
        ],
        "joint_status_l": {
          "velocity": [
            0.3274684628817859,
            0.6995040053872081,
            -0.07074542101459524,
            -0.9981231360409737,
            -0.5011563764443366,
            0.7852205594529593,
            0.3491203321797087
          ],
          "torque": [
            -24.4775390625,
            10.400390625,
            -16.973876953125,
            -4.437255859375,
            -4.7808837890625,
            -0.157470703125,
            0.6005859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.15410669795379306,
            -1.9795737376648859,
            -0.1649818590749863,
            3.643006230820589,
            0.5046329504309055,
            -1.5743296801797868,
            -0.9539889998402273
          ],
          "torque": [
            24.78515625,
            -0.21240234375,
            8.11767578125,
            -2.142333984375,
            4.82666015625,
            1.365966796875,
            -0.87249755859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.3,
            -7.6,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.3,
            -7.6,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.7,
            -1.4,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.7,
            -1.4,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -291,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 169,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3273547350505175,
          -0.5463371743680482,
          -0.07790317640017533,
          -0.9967997493975828,
          -0.017910477261880168,
          -0.766445568084364,
          0.34168451573626235
        ],
        "act_joint_pos_r": [
          -0.5602614820120344,
          -1.0081916921094576,
          0.1407919445646274,
          -0.7891386120648747,
          0.07089035508049601,
          0.9994585791919384,
          -0.49242053034929223
        ],
        "act_eef_pose_l": [
          533.7302875079824,
          376.2382907697837,
          73.74283144788778,
          1.724842864571622,
          -0.12095785646516694,
          0.8039747185995628
        ],
        "act_eef_pose_r": [
          516.0214644042035,
          -162.76674812687867,
          -29.987056653080117,
          1.579331771190532,
          -0.03970131795891846,
          2.7478801236299994
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 212,
      "colors": {
        "rgb_main": "colors/000212_rgb_main.jpg",
        "rgb_wrist_0": "colors/000212_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000212_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000212_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3244099690055936,
          -0.5538297801371749,
          -0.0771440628887728,
          -0.9862773594483717,
          -0.014078500617740962,
          -0.7745024384347288,
          0.3390773239780947
        ],
        "joint_pos_r": [
          -0.5601996143568724,
          -0.9893151207005666,
          0.14237472034979107,
          -0.8258245321656081,
          0.06423273890925706,
          1.0105672680828894,
          -0.48282758135357556
        ],
        "eef_pose_l": [
          535.241481980443,
          374.8636652003727,
          73.98284244074293,
          1.7248128813893056,
          -0.12158351824492038,
          0.7985484710159652
        ],
        "eef_pose_r": [
          507.6164748119384,
          -161.91789301839538,
          -24.63254202102391,
          1.5691596612234735,
          -0.0438312224257944,
          2.776266386089433
        ],
        "joint_status_l": {
          "velocity": [
            0.31802535319513936,
            0.8091775576493099,
            -0.08198184130625563,
            -1.1363845986416266,
            -0.41384127197115206,
            0.8701163351299002,
            0.2815684054660039
          ],
          "torque": [
            -24.0966796875,
            10.927734375,
            -17.724609375,
            -4.08935546875,
            -5.1123046875,
            -0.3460693359375,
            0.60516357421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.00668150969662662,
            -2.0386095865836396,
            -0.17093474334695102,
            3.961962519041684,
            0.7190013406827567,
            -1.1997030168737766,
            -1.0360079361162455
          ],
          "torque": [
            27.91259765625,
            0.263671875,
            7.94677734375,
            -2.08740234375,
            4.8175048828125,
            1.669921875,
            -0.72601318359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.9,
            -7.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.9,
            -7.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.4,
            -1.2,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.4,
            -1.2,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -198,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 104,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32767185207649896,
          -0.5434829500732014,
          -0.07823740969681371,
          -1.0024972365835976,
          -0.018914568277425305,
          -0.7610439740650108,
          0.34261034588585504
        ],
        "act_joint_pos_r": [
          -0.5584563518663583,
          -1.0148623086972994,
          0.14024783579944916,
          -0.7751481243645804,
          0.07418207723443038,
          1.0004432035689441,
          -0.49462332761053035
        ],
        "act_eef_pose_l": [
          533.3518875079824,
          376.4606907697837,
          74.01643144788777,
          1.7247211052954516,
          -0.12159574376837255,
          0.8065767827898941
        ],
        "act_eef_pose_r": [
          518.8822644042035,
          -163.08834812687869,
          -30.420656653080187,
          1.5795655687248908,
          -0.038126612326319476,
          2.7409227007966757
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 213,
      "colors": {
        "rgb_main": "colors/000213_rgb_main.jpg",
        "rgb_wrist_0": "colors/000213_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000213_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000213_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32471679436221385,
          -0.5529592066315501,
          -0.0772342433941188,
          -0.9875741297245955,
          -0.014503735409682405,
          -0.7734638932976919,
          0.33937729910607234
        ],
        "joint_pos_r": [
          -0.5600302374747987,
          -0.9930818352376406,
          0.14206039950359375,
          -0.8184019712959812,
          0.06565463177044631,
          1.008838987299993,
          -0.4846237191063383
        ],
        "eef_pose_l": [
          535.0756229558551,
          375.01084508840995,
          73.97077187198786,
          1.7248067061636647,
          -0.12155028245143991,
          0.7992030392813451
        ],
        "eef_pose_r": [
          509.3060220941415,
          -162.07990350127358,
          -25.561109717761013,
          1.570835788332961,
          -0.0430307948490515,
          2.7708937186488773
        ],
        "joint_status_l": {
          "velocity": [
            0.31913682070516813,
            1.023405524569032,
            -0.10833876540994325,
            -1.611648007755484,
            -0.47635590034993125,
            1.3413117172556,
            0.34915875432961485
          ],
          "torque": [
            -24.3310546875,
            10.3125,
            -17.88330078125,
            -4.1015625,
            -5.0445556640625,
            -0.3753662109375,
            0.640869140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.16997463257784062,
            -2.3522217585707494,
            -0.19575110667746642,
            4.671277696620457,
            0.9209369485268515,
            -0.9067179007384851,
            -1.0799258677414159
          ],
          "torque": [
            32.51953125,
            0.9228515625,
            7.77587890625,
            -2.886962890625,
            4.903564453125,
            1.640625,
            -0.62530517578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.6,
            -8.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.6,
            -8.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.2,
            -0.9,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.2,
            -0.9,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -263,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 78,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32715630867967366,
          -0.5422871877205573,
          -0.0783932284813977,
          -1.005532972534575,
          -0.01800568273226478,
          -0.7589861665244861,
          0.3418212032476174
        ],
        "act_joint_pos_r": [
          -0.5575511753660405,
          -1.019016309071115,
          0.1399325695662057,
          -0.7674862651644206,
          0.0785444456804223,
          0.9967044648882566,
          -0.49790030378502986
        ],
        "act_eef_pose_l": [
          533.1342875079824,
          376.2638907697837,
          74.34363144788772,
          1.7248987446534512,
          -0.12192419006929943,
          0.8066531928890095
        ],
        "act_eef_pose_r": [
          521.2798644042034,
          -163.36114812687867,
          -30.74865665308016,
          1.5798189556130142,
          -0.03670874880654157,
          2.7327690831073714
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 214,
      "colors": {
        "rgb_main": "colors/000214_rgb_main.jpg",
        "rgb_wrist_0": "colors/000214_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000214_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000214_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3252382382606233,
          -0.5510816262148486,
          -0.07743511382861806,
          -0.9906140321259309,
          -0.015272014134203557,
          -0.7709676965219213,
          0.33993156626172927
        ],
        "joint_pos_r": [
          -0.5596619277034041,
          -0.9973459845431057,
          0.14170856498267392,
          -0.8099922391447663,
          0.06759625968082775,
          1.0069826677519609,
          -0.48671767905626084
        ],
        "eef_pose_l": [
          534.7365973864332,
          375.27228152779134,
          74.00258800357057,
          1.7247961901216395,
          -0.12158468555651843,
          0.8006038479126445
        ],
        "eef_pose_r": [
          511.26385719638165,
          -162.27411254906832,
          -26.46003612161175,
          1.572384587860422,
          -0.042059440679736305,
          2.7647700098937253
        ],
        "joint_status_l": {
          "velocity": [
            0.20714549582789843,
            0.9497713453754386,
            -0.10347333071736298,
            -1.611198044386697,
            -0.2952275013208966,
            1.2939670762044386,
            0.2040747756115735
          ],
          "torque": [
            -23.056640625,
            11.0888671875,
            -17.755126953125,
            -4.034423828125,
            -4.9713134765625,
            -0.234375,
            0.6134033203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.22795452927582005,
            -2.3403260247985003,
            -0.19180184808553769,
            4.590509800028286,
            1.182369215840251,
            -1.1100131711927474,
            -1.2076878518576528
          ],
          "torque": [
            35.39794921875,
            0.06591796875,
            7.293701171875,
            -2.978515625,
            4.98779296875,
            1.4593505859375,
            -0.70953369140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.5,
            -7.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.5,
            -7.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.2,
            -0.9,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.2,
            -0.9,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -206,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 72,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3264064444125474,
          -0.5433180607439143,
          -0.07827304755939629,
          -1.0033790622219394,
          -0.016631170533352353,
          -0.7614808098966199,
          0.3405277407491437
        ],
        "act_joint_pos_r": [
          -0.5567863260564119,
          -1.0204625945447758,
          0.13985419822622647,
          -0.7665824914145033,
          0.08113900601728032,
          0.9924738585646627,
          -0.499801377352612
        ],
        "act_eef_pose_l": [
          533.2694875079824,
          376.13109076978367,
          74.46523144788766,
          1.7250620689131089,
          -0.12181010997434778,
          0.8051530964276886
        ],
        "act_eef_pose_r": [
          522.4414644042034,
          -163.17874812687867,
          -30.512656653080285,
          1.5795916001289687,
          -0.035729509016356,
          2.7285012980661825
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 215,
      "colors": {
        "rgb_main": "colors/000215_rgb_main.jpg",
        "rgb_wrist_0": "colors/000215_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000215_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000215_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3255337947843883,
          -0.5495865993643284,
          -0.07759753286651903,
          -0.9931266629478204,
          -0.01567547711558054,
          -0.7689942244804044,
          0.34019050713899784
        ],
        "joint_pos_r": [
          -0.5592024211895853,
          -1.001340683037919,
          0.14138571041900516,
          -0.802374841216374,
          0.06982476852046551,
          1.004688001515069,
          -0.4889093836291621
        ],
        "eef_pose_l": [
          534.4628671428023,
          375.44107308750216,
          74.06953178151369,
          1.724820534602498,
          -0.12163883278795551,
          0.8015871082382711
        ],
        "eef_pose_r": [
          513.1884366850464,
          -162.4343014792317,
          -27.197392732894485,
          1.573654009358277,
          -0.04103103231170592,
          2.7586184734962385
        ],
        "joint_status_l": {
          "velocity": [
            0.09424338028107826,
            0.6769822044820906,
            -0.07295343518420871,
            -1.1072264657050468,
            -0.10321184504870351,
            0.8114248433521709,
            0.03642015574056856
          ],
          "torque": [
            -23.349609375,
            10.72265625,
            -18.2373046875,
            -3.326416015625,
            -4.8486328125,
            -0.2618408203125,
            0.65826416015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.26093057864695623,
            -2.065105535707268,
            -0.16539843865381876,
            3.865459772960378,
            1.2219016115943004,
            -1.3190885342071468,
            -1.1763006289999822
          ],
          "torque": [
            36.71630859375,
            -1.376953125,
            7.421875,
            -2.001953125,
            4.97314453125,
            1.5985107421875,
            -0.6591796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.6,
            -8.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.6,
            -8.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -17.5,
            -1.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -17.5,
            -1.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -253,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 62,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3265391672690336,
          -0.5433554545775001,
          -0.07832586606802057,
          -1.0058504661624714,
          -0.01909403284357392,
          -0.7595735252397801,
          0.34254536538534797
        ],
        "act_joint_pos_r": [
          -0.5558748174690353,
          -1.0218999732361855,
          0.13977560927139276,
          -0.7657113373186981,
          0.08506761477102166,
          0.9888660408664832,
          -0.5030865705345108
        ],
        "act_eef_pose_l": [
          533.2926875079825,
          375.47349076978367,
          74.78283144788774,
          1.7233415948600892,
          -0.12192685215509583,
          0.8051172465822717
        ],
        "act_eef_pose_r": [
          523.6382644042035,
          -162.99554812687867,
          -29.937456653080062,
          1.5780252597420963,
          -0.03397857062974047,
          2.7242745016041727
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 216,
      "colors": {
        "rgb_main": "colors/000216_rgb_main.jpg",
        "rgb_wrist_0": "colors/000216_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000216_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000216_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3257206697588199,
          -0.5483293075702721,
          -0.0777379044880087,
          -0.9954005159940242,
          -0.016079176902444942,
          -0.767319587552156,
          0.3404316048772446
        ],
        "joint_pos_r": [
          -0.5586017130170493,
          -1.0053669361773938,
          0.14106784376560377,
          -0.7950677847275647,
          0.07259497171138143,
          1.0017772682927952,
          -0.4915135959795016
        ],
        "eef_pose_l": [
          534.2260545418955,
          375.5240951155527,
          74.1762111914044,
          1.724719045071688,
          -0.12168442287246227,
          0.802301540138099
        ],
        "eef_pose_r": [
          515.2191492013721,
          -162.54959141585218,
          -27.79576414671621,
          1.5746304318860214,
          -0.03976123921986964,
          2.7520194713163404
        ],
        "joint_status_l": {
          "velocity": [
            0.08839512402802896,
            0.5371602805239739,
            -0.06349797786853184,
            -1.128561333055167,
            -0.32559483873546846,
            0.8365500570119977,
            0.22827940213421272
          ],
          "torque": [
            -23.06396484375,
            10.5029296875,
            -18.560791015625,
            -3.96728515625,
            -5.0152587890625,
            -0.1373291015625,
            0.6097412109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.29449603348918885,
            -1.7855153413890434,
            -0.13955720935499016,
            3.17040281412595,
            1.3470057226310228,
            -1.3943714372546268,
            -1.2498443897510647
          ],
          "torque": [
            38.41552734375,
            0.3369140625,
            7.16552734375,
            -2.63671875,
            5.1763916015625,
            1.3604736328125,
            -0.75897216796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.6,
            -8.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.6,
            -8.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.6,
            -1.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.6,
            -1.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -213,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 64,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3266371943141016,
          -0.5462161327710903,
          -0.07797992839189012,
          -0.9995215446760947,
          -0.019886833393090442,
          -0.7644793638884385,
          0.34313423298707607
        ],
        "act_joint_pos_r": [
          -0.5525781793836901,
          -1.0292500887039113,
          0.13923060437010729,
          -0.7527102781688554,
          0.087519541305344,
          0.9920682200061094,
          -0.505490485341575
        ],
        "act_eef_pose_l": [
          533.8190875079824,
          375.5782907697837,
          74.47483144788775,
          1.7227979321233577,
          -0.12145012889846656,
          0.8039100248489612
        ],
        "act_eef_pose_r": [
          526.1806644042035,
          -162.45714812687868,
          -29.283856653080193,
          1.5763199573512214,
          -0.030572751802559063,
          2.721093804798119
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 217,
      "colors": {
        "rgb_main": "colors/000217_rgb_main.jpg",
        "rgb_wrist_0": "colors/000217_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000217_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000217_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32587108333025705,
          -0.547616121941476,
          -0.07782175867427699,
          -0.9968803827680857,
          -0.01665829824834586,
          -0.7662350958445305,
          0.34083955447529396
        ],
        "joint_pos_r": [
          -0.5582815095949378,
          -1.0071205854641072,
          0.14093121524517357,
          -0.7919547064562178,
          0.07387198953107763,
          1.0005406194354802,
          -0.4927004148653201
        ],
        "eef_pose_l": [
          534.0922808941119,
          375.52150618128337,
          74.26564122775116,
          1.7244417771319376,
          -0.12170111266693705,
          0.8027293575394319
        ],
        "eef_pose_r": [
          516.1023128987954,
          -162.58150541941225,
          -28.00134798068109,
          1.5749351746883538,
          -0.03914099361751951,
          2.74920883101468
        ],
        "joint_status_l": {
          "velocity": [
            0.0827375460414892,
            0.1511943711620667,
            -0.01708182570070438,
            -0.2852370734469645,
            -0.34867151211585845,
            0.18961345890833314,
            0.24781797027184638
          ],
          "torque": [
            -22.8662109375,
            8.88427734375,
            -13.275146484375,
            -3.765869140625,
            -5.0958251953125,
            -0.2984619140625,
            0.56488037109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6159414965916099,
            -2.389915863097336,
            -0.18366055772878198,
            4.238273253847069,
            1.4738921214962897,
            -0.9149921521220961,
            -1.3812868725566751
          ],
          "torque": [
            38.98681640625,
            -0.63720703125,
            7.36083984375,
            -2.227783203125,
            5.137939453125,
            1.329345703125,
            -0.71868896484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.5,
            -8.3,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.5,
            -8.3,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.4,
            -1.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.4,
            -1.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -267,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -5,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.327317800279599,
          -0.5456551472518323,
          -0.07808009180051835,
          -1.002238058392507,
          -0.022232869956247108,
          -0.7625080790213132,
          0.3454689729786502
        ],
        "act_joint_pos_r": [
          -0.550369283672739,
          -1.0342155674735618,
          0.13889566257102923,
          -0.7460874360050463,
          0.08874194311563866,
          0.9921342118068864,
          -0.5083533915975583
        ],
        "act_eef_pose_l": [
          533.6574875079824,
          375.1678907697837,
          74.54043144788788,
          1.7216135961087402,
          -0.12170042073207168,
          0.804136369427813
        ],
        "act_eef_pose_r": [
          527.7718644042035,
          -161.58114812687867,
          -28.805456653080228,
          1.5755148074874066,
          -0.02695951882329304,
          2.719208559466427
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 218,
      "colors": {
        "rgb_main": "colors/000218_rgb_main.jpg",
        "rgb_wrist_0": "colors/000218_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000218_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000218_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3260170992785314,
          -0.5473694269483184,
          -0.07785071482849631,
          -0.997394686681433,
          -0.017258238317109025,
          -0.7658883290717172,
          0.34128563973614257
        ],
        "joint_pos_r": [
          -0.5570695209157367,
          -1.0117169070755845,
          0.14057937211387242,
          -0.7838679705120182,
          0.0766523433653082,
          0.9988389007699923,
          -0.49535672085879034
        ],
        "eef_pose_l": [
          534.0426764484428,
          375.51865589229413,
          74.30203425591088,
          1.7241356669642403,
          -0.12166795015400014,
          0.8029297767306441
        ],
        "eef_pose_r": [
          518.1949222141185,
          -162.52504597701576,
          -28.25676781901285,
          1.5751854125308102,
          -0.03732440618079055,
          2.743495093849494
        ],
        "joint_status_l": {
          "velocity": [
            0.1404715651278643,
            0.18513674690456838,
            -0.024771982367832734,
            -0.5230687177082416,
            -0.5372443718511394,
            0.36505623868610115,
            0.45178666545542256
          ],
          "torque": [
            -22.8515625,
            9.7705078125,
            -13.78173828125,
            -4.248046875,
            -5.0189208984375,
            -0.0274658203125,
            0.59967041015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.7236042806764154,
            -2.4297836603421885,
            -0.18183526768256186,
            4.080177388353867,
            1.3056382652933962,
            -0.7240850522691744,
            -1.4035990428453715
          ],
          "torque": [
            40.4736328125,
            -1.29638671875,
            7.2509765625,
            -2.5634765625,
            5.0225830078125,
            1.64794921875,
            -0.67840576171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.5,
            -7.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.5,
            -7.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.2,
            -1.2,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.2,
            -1.2,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -185,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 95,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3278771327639865,
          -0.5460308744447917,
          -0.07801508847838581,
          -1.0005008362953893,
          -0.024156074117036314,
          -0.764699375936105,
          0.347478941938582
        ],
        "act_joint_pos_r": [
          -0.548651080720195,
          -1.0364681111046954,
          0.13875747547905382,
          -0.7434389672562921,
          0.08896056801149665,
          0.9917336867769981,
          -0.5106226860853457
        ],
        "act_eef_pose_l": [
          533.6214875079825,
          375.31189076978364,
          74.47243144788767,
          1.720573194003265,
          -0.12185671033613121,
          0.8036588350841921
        ],
        "act_eef_pose_r": [
          528.6446644042035,
          -161.09634812687867,
          -28.24625665308008,
          1.5751387703211392,
          -0.02353698902005252,
          2.718437865974482
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 219,
      "colors": {
        "rgb_main": "colors/000219_rgb_main.jpg",
        "rgb_wrist_0": "colors/000219_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000219_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000219_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32625538314391894,
          -0.5470719093869748,
          -0.07789030496845786,
          -0.9982252287441625,
          -0.018166364586425517,
          -0.7653232245892387,
          0.3420551467045577
        ],
        "joint_pos_r": [
          -0.555968033160779,
          -1.0154155819183603,
          0.14030257811731886,
          -0.7776570268355596,
          0.0786398171821851,
          0.9977366811730094,
          -0.4974933129158734
        ],
        "eef_pose_l": [
          533.9742138324395,
          375.45858599617856,
          74.34335581836953,
          1.7236723931510929,
          -0.12167753725428147,
          0.8031351296690736
        ],
        "eef_pose_r": [
          519.7832360106537,
          -162.36779840571876,
          -28.35730124068064,
          1.5752391717191359,
          -0.035628194164105176,
          2.7394996362445414
        ],
        "joint_status_l": {
          "velocity": [
            0.1751437933772415,
            0.11242845785597311,
            -0.013476221612296335,
            -0.24575836727702693,
            -0.6468695509083688,
            0.06737366745834805,
            0.5857526094250609
          ],
          "torque": [
            -23.0712890625,
            9.78515625,
            -14.4287109375,
            -4.107666015625,
            -4.9896240234375,
            0.025634765625,
            0.5914306640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6046471115954688,
            -2.030338558326683,
            -0.15194239769789064,
            3.40941525436822,
            1.0909974235638886,
            -0.6050488465803028,
            -1.1728539061452992
          ],
          "torque": [
            39.90966796875,
            1.20849609375,
            7.403564453125,
            -2.398681640625,
            5.1434326171875,
            1.893310546875,
            -0.7122802734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.5,
            -8.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.5,
            -8.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.6,
            -1.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.6,
            -1.0,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -234,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 101,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3277011768600791,
          -0.5460796192818405,
          -0.07799740748035577,
          -0.9998431454568207,
          -0.02341259004961305,
          -0.7657818056511362,
          0.34683643232894956
        ],
        "act_joint_pos_r": [
          -0.5480459512452769,
          -1.0373628720112613,
          0.13870488853893398,
          -0.742356108992767,
          0.08869876316638735,
          0.9914799983976146,
          -0.5126618829387366
        ],
        "act_eef_pose_l": [
          533.5654875079824,
          375.3670907697837,
          74.47243144788767,
          1.7208479972040176,
          -0.12178352392531633,
          0.8030701699368827
        ],
        "act_eef_pose_r": [
          528.9654644042035,
          -160.90754812687868,
          -28.12865665308027,
          1.5753324091319798,
          -0.020916987177876708,
          2.7181684084916746
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 220,
      "colors": {
        "rgb_main": "colors/000220_rgb_main.jpg",
        "rgb_wrist_0": "colors/000220_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000220_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000220_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32652226674979545,
          -0.5468933461622656,
          -0.0779103725683295,
          -0.9985533595991245,
          -0.01914149874557767,
          -0.7653350673277629,
          0.3429416167013398
        ],
        "joint_pos_r": [
          -0.5546604986866257,
          -1.0191618794476327,
          0.1400280504915609,
          -0.7715769371998485,
          0.0804466854656019,
          0.9966655312649704,
          -0.49990502484902005
        ],
        "eef_pose_l": [
          533.9054606723682,
          375.43857921463774,
          74.36607075102503,
          1.7231552876159053,
          -0.12170095480861254,
          0.8031596972377532
        ],
        "eef_pose_r": [
          521.3700593111924,
          -162.13726076818523,
          -28.34865326711696,
          1.5752401527729072,
          -0.03338561585038849,
          2.7357671757582227
        ],
        "joint_status_l": {
          "velocity": [
            0.1273185368506624,
            0.08787991120673411,
            -0.009399493275608073,
            -0.13929276440993732,
            -0.461264256573779,
            -0.04824631597522,
            0.42062768203132705
          ],
          "torque": [
            -22.91748046875,
            9.9609375,
            -14.990234375,
            -4.5166015625,
            -4.8687744140625,
            -1.00341796875,
            0.50628662109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.7143500550372828,
            -1.9656492231465705,
            -0.14289727635397043,
            3.155756372305696,
            0.8911981072017294,
            -0.5600210327374455,
            -1.3777000405985618
          ],
          "torque": [
            41.53564453125,
            0.8349609375,
            7.269287109375,
            -2.642822265625,
            5.09033203125,
            1.761474609375,
            -0.706787109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.5,
            -8.3,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.5,
            -8.3,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.5,
            -1.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.5,
            -1.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -255,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 19,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32760027291041555,
          -0.5456694327817453,
          -0.07801705321689112,
          -0.9993684055574121,
          -0.022935416027020046,
          -0.7663503091288137,
          0.3463976773221061
        ],
        "act_joint_pos_r": [
          -0.546894881699223,
          -1.0392090851303792,
          0.13857317906231942,
          -0.7387901168099653,
          0.08728627152785862,
          0.9927149335528896,
          -0.5133740690482507
        ],
        "act_eef_pose_l": [
          533.4910875079825,
          375.68549076978366,
          74.49083144788783,
          1.721142309204945,
          -0.12183728784925896,
          0.8032777641847346
        ],
        "act_eef_pose_r": [
          529.5062644042034,
          -160.75794812687866,
          -28.076656653080136,
          1.576147231862628,
          -0.01852744187660154,
          2.7183133937797916
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 221,
      "colors": {
        "rgb_main": "colors/000221_rgb_main.jpg",
        "rgb_wrist_0": "colors/000221_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000221_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000221_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32670468778729744,
          -0.5467132866553318,
          -0.07792689758233995,
          -0.9987118233883848,
          -0.019789800573017113,
          -0.7654726605621645,
          0.34353239587261164
        ],
        "joint_pos_r": [
          -0.5533611011531844,
          -1.022588299849157,
          0.13977924186533502,
          -0.766008052487942,
          0.08174633263379326,
          0.9958880390288566,
          -0.5022409096973205
        ],
        "eef_pose_l": [
          533.8411223601344,
          375.4626226826586,
          74.38547808009122,
          1.7228094522048207,
          -0.12172025450894396,
          0.8031675682989671
        ],
        "eef_pose_r": [
          522.7838789997712,
          -161.90313891084352,
          -28.313819243208798,
          1.5753529154977757,
          -0.03091601774853774,
          2.7326689194481975
        ],
        "joint_status_l": {
          "velocity": [
            0.09672034068275437,
            0.1127328934686922,
            -0.009736521368153284,
            -0.07090878291116098,
            -0.33971644963121106,
            -0.09478324971556873,
            0.30944127006282685
          ],
          "torque": [
            -22.72705078125,
            10.107421875,
            -15.545654296875,
            -4.47998046875,
            -4.888916015625,
            -1.5655517578125,
            0.509033203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6983311048527341,
            -1.7949918699162737,
            -0.13025094117957714,
            2.939450358767637,
            0.598295754768996,
            -0.3426852844423678,
            -1.2023457486081135
          ],
          "torque": [
            40.89111328125,
            -1.083984375,
            6.939697265625,
            -1.898193359375,
            4.6710205078125,
            1.5399169921875,
            -0.6884765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.5,
            -8.3,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.5,
            -8.3,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.1,
            -1.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.1,
            -1.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -207,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 74,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32754168666172,
          -0.5461658410943498,
          -0.07791857812244071,
          -0.9964908034428485,
          -0.02281638759244901,
          -0.7687834701985793,
          0.3466188698452655
        ],
        "act_joint_pos_r": [
          -0.5463254609163024,
          -1.041742434257153,
          0.138380948442064,
          -0.7331485834118958,
          0.08483200173253012,
          0.9944552988886902,
          -0.5122122673530989
        ],
        "act_eef_pose_l": [
          533.5918875079824,
          376.14309076978367,
          74.41243144788773,
          1.7212241991877508,
          -0.12214877874191521,
          0.8031490550665384
        ],
        "act_eef_pose_r": [
          530.0894644042035,
          -160.75474812687867,
          -28.71825665308029,
          1.578392075998064,
          -0.017978044951016178,
          2.718088132173817
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 222,
      "colors": {
        "rgb_main": "colors/000222_rgb_main.jpg",
        "rgb_wrist_0": "colors/000222_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000222_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000222_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32681332679094394,
          -0.5466175303055835,
          -0.07793115892367374,
          -0.9985870868563793,
          -0.020177634274179884,
          -0.7657586985087568,
          0.34390943192723444
        ],
        "joint_pos_r": [
          -0.5522338297825601,
          -1.0256065497032019,
          0.13955927891929812,
          -0.7608969442418759,
          0.08238012601856816,
          0.9955627830250617,
          -0.5039400481896582
        ],
        "eef_pose_l": [
          533.8042855336951,
          375.5236338468331,
          74.39292313545678,
          1.7226057817090086,
          -0.1217568787383975,
          0.8031716623443698
        ],
        "eef_pose_r": [
          523.9631190101585,
          -161.715247464969,
          -28.35589097507335,
          1.5757411163129036,
          -0.02882274599279862,
          2.730278871037028
        ],
        "joint_status_l": {
          "velocity": [
            0.0786605460749712,
            0.04878099609495479,
            0.0013586864608949867,
            0.2263919315890206,
            -0.2849769534270796,
            -0.3266657080107649,
            0.29261066505714695
          ],
          "torque": [
            -22.412109375,
            7.06787109375,
            -15.7958984375,
            -1.092529296875,
            -4.8834228515625,
            -1.600341796875,
            0.44677734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6380850182443609,
            -1.742624135875559,
            -0.12725593832796367,
            2.996734585676286,
            0.2647947674037088,
            -0.11960475917494051,
            -0.8933733210136907
          ],
          "torque": [
            40.53955078125,
            0.41015625,
            7.373046875,
            -2.9296875,
            4.7900390625,
            1.7138671875,
            -0.728759765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.6,
            -16.4,
            -6.1,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -16.4,
            -6.1,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.6,
            -1.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.6,
            -1.1,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -253,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -9,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3281295445103704,
          -0.5464521453123954,
          -0.07787428945456909,
          -0.9954059886370548,
          -0.025784904030505564,
          -0.7696016829238388,
          0.3500822946818789
        ],
        "act_joint_pos_r": [
          -0.5463076252230765,
          -1.0435199056671847,
          0.1382438819244653,
          -0.7288894862703484,
          0.08321037852328315,
          0.9952309961964863,
          -0.5121692410659822
        ],
        "act_eef_pose_l": [
          533.6766875079824,
          376.3030907697837,
          74.45643144788782,
          1.7196692081325389,
          -0.12314157024559785,
          0.8035761606186791
        ],
        "act_eef_pose_r": [
          530.5374644042034,
          -160.8787481268787,
          -29.443856653080275,
          1.5804215465559641,
          -0.017200896499934712,
          2.717238593533627
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 223,
      "colors": {
        "rgb_main": "colors/000223_rgb_main.jpg",
        "rgb_wrist_0": "colors/000223_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000223_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000223_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32697626723273693,
          -0.5465543049323128,
          -0.07792636092727102,
          -0.998153407970067,
          -0.020816687897468888,
          -0.7663410497384627,
          0.344589742202753
        ],
        "joint_pos_r": [
          -0.5512607474648703,
          -1.0284360104254984,
          0.13935193353522976,
          -0.755911611170022,
          0.08262190786976863,
          0.995457872688042,
          -0.5052956828227338
        ],
        "eef_pose_l": [
          533.7716810006133,
          375.64228960100934,
          74.39857978726855,
          1.7222723620926053,
          -0.12188246853055122,
          0.8031912338539868
        ],
        "eef_pose_r": [
          525.0223320643144,
          -161.57035024883533,
          -28.495007026023558,
          1.5763819009256812,
          -0.026968081528673696,
          2.7281842846336652
        ],
        "joint_status_l": {
          "velocity": [
            0.12455027257063378,
            0.01103291355297742,
            0.005623553194000763,
            0.2967125368975587,
            -0.5365515176268265,
            -0.35213799826561143,
            0.5931781728905072
          ],
          "torque": [
            -21.826171875,
            8.173828125,
            -16.436767578125,
            -0.390625,
            -5.0445556640625,
            -2.0050048828125,
            0.46875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5349214254497525,
            -1.6290126409419514,
            -0.11966604460134089,
            2.918303418407042,
            0.06355295618520884,
            -0.024501938442611504,
            -0.7423223966416259
          ],
          "torque": [
            41.8359375,
            0.263671875,
            7.26318359375,
            -3.045654296875,
            4.8028564453125,
            2.420654296875,
            -0.75164794921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.7,
            -7.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.7,
            -7.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.7,
            -1.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.7,
            -1.0,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -284,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 9,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32700646747517587,
          -0.5473864453688176,
          -0.07781810671858573,
          -0.9959354042827769,
          -0.02397193498803535,
          -0.7690886592578347,
          0.3495698045600816
        ],
        "act_joint_pos_r": [
          -0.5442393783565178,
          -1.047414029177349,
          0.13791930480498085,
          -0.7179660048350579,
          0.08139247059575272,
          0.9999468466257974,
          -0.5117954868382093
        ],
        "act_eef_pose_l": [
          533.9030875079825,
          375.64469076978367,
          74.7444314478876,
          1.7199558110330755,
          -0.12439604383194974,
          0.8022364766724386
        ],
        "act_eef_pose_r": [
          531.9718644042035,
          -161.46834812687868,
          -29.6166566530801,
          1.5820219743823865,
          -0.01477847808237114,
          2.7158954796873416
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 224,
      "colors": {
        "rgb_main": "colors/000224_rgb_main.jpg",
        "rgb_wrist_0": "colors/000224_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000224_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000224_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32709782296531664,
          -0.5466152361386107,
          -0.0779116921856559,
          -0.997679513161632,
          -0.021600156560756607,
          -0.7669133688337327,
          0.3455840226259189
        ],
        "joint_pos_r": [
          -0.5500041093566094,
          -1.0319598859309378,
          0.13908821821760242,
          -0.7491012958431634,
          0.08251114407896452,
          0.9960065510013268,
          -0.5066307448902955
        ],
        "eef_pose_l": [
          533.8021062363654,
          375.63246973639576,
          74.26104471335367,
          1.7222058144195598,
          -0.12215670915071031,
          0.8030481350306815
        ],
        "eef_pose_r": [
          526.4072633773127,
          -161.5057532709582,
          -28.73163682790556,
          1.577468072080202,
          -0.0245570816249497,
          2.7256578937723486
        ],
        "joint_status_l": {
          "velocity": [
            -0.009866101950528616,
            -0.08328814040980959,
            0.010106932355591347,
            0.18835820358820143,
            -0.256144515567408,
            -0.23492443707695543,
            0.4304517533935126
          ],
          "torque": [
            -25.078125,
            4.8046875,
            -17.425537109375,
            -0.518798828125,
            -4.8907470703125,
            -2.1221923828125,
            0.55938720703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6225725862130105,
            -1.6689982461404185,
            -0.1262389253451346,
            3.362512256877892,
            -0.12081317299283967,
            0.4255393768293203,
            -0.5577756796601996
          ],
          "torque": [
            41.88720703125,
            0.08056640625,
            7.21435546875,
            -2.398681640625,
            2.7777099609375,
            3.310546875,
            -0.74432373046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -17.0,
            -7.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -17.0,
            -7.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.5,
            -1.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.5,
            -1.1,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -261,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -43,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3262452037315348,
          -0.5480643748813432,
          -0.07776228945349964,
          -0.9956168465918368,
          -0.023057722293387848,
          -0.7696444205545442,
          0.3490370113576555
        ],
        "act_joint_pos_r": [
          -0.5428495107115614,
          -1.04821586991294,
          0.1378447059707488,
          -0.7147619393331571,
          0.08088589282539838,
          1.0000624126659108,
          -0.5121580161372798
        ],
        "act_eef_pose_l": [
          534.0374875079824,
          375.29989076978364,
          74.98123144788774,
          1.7198732692194088,
          -0.12481761855749203,
          0.8012095515647433
        ],
        "act_eef_pose_r": [
          532.8110644042034,
          -161.93634812687867,
          -29.378256653080143,
          1.582927812924447,
          -0.012810508147443393,
          2.714093563442726
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 225,
      "colors": {
        "rgb_main": "colors/000225_rgb_main.jpg",
        "rgb_wrist_0": "colors/000225_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000225_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000225_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32703743367399085,
          -0.5467909867524277,
          -0.07789190195902003,
          -0.9973526287301496,
          -0.021966382222867096,
          -0.7673302736379369,
          0.34625778188172407
        ],
        "joint_pos_r": [
          -0.5486697601523124,
          -1.0351685176365508,
          0.1388437672524535,
          -0.7424367022922951,
          0.0822223568373094,
          0.9968134455992553,
          -0.5077149788990052
        ],
        "eef_pose_l": [
          533.80396800183,
          375.67873015377796,
          74.5023950764108,
          1.7214747149324308,
          -0.12263402670167312,
          0.8029255443421628
        ],
        "eef_pose_r": [
          527.5738256988864,
          -161.5576155667744,
          -28.877938765893305,
          1.5784471748636937,
          -0.022464036761112652,
          2.723578522993029
        ],
        "joint_status_l": {
          "velocity": [
            -0.08555831037782013,
            -0.13752186193194404,
            0.013997737755122586,
            0.18745894213267889,
            -0.11786125148444127,
            -0.24992049598271393,
            0.30014793101029724
          ],
          "torque": [
            -28.45458984375,
            4.47509765625,
            -17.8466796875,
            -0.372314453125,
            -4.8394775390625,
            -2.197265625,
            0.59326171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6285684009670334,
            -1.4090724874780136,
            -0.10789543621836373,
            2.98878625004928,
            -0.14433385638690233,
            0.35087809460154773,
            -0.47983386979000286
          ],
          "torque": [
            40.8544921875,
            0.3515625,
            6.866455078125,
            -2.52685546875,
            2.666015625,
            3.563232421875,
            -0.67657470703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -16.8,
            -8.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.8,
            -8.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.5,
            -1.2,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.5,
            -1.2,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -255,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -5,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.325629117535064,
          -0.5494464195549688,
          -0.07758381611019168,
          -0.9919402219734679,
          -0.023004353107645734,
          -0.773972470471046,
          0.35004515932939617
        ],
        "act_joint_pos_r": [
          -0.5417599256414065,
          -1.049141968820645,
          0.13775831485757842,
          -0.7111687261112767,
          0.08183370772853847,
          0.9986016667416382,
          -0.5151457520916448
        ],
        "act_eef_pose_l": [
          534.1886875079824,
          375.2894907697837,
          75.18203144788781,
          1.7191391833731304,
          -0.1258896338473795,
          0.7991756808140443
        ],
        "act_eef_pose_r": [
          534.0038644042035,
          -162.61634812687868,
          -29.295856653080136,
          1.583814956674643,
          -0.009248872474515262,
          2.7101075059080117
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 226,
      "colors": {
        "rgb_main": "colors/000226_rgb_main.jpg",
        "rgb_wrist_0": "colors/000226_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000226_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000226_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32684325194770564,
          -0.5471313521623601,
          -0.07785453214944603,
          -0.996759410481121,
          -0.022168837950451912,
          -0.7680797931783246,
          0.34685584853544843
        ],
        "joint_pos_r": [
          -0.548233923991421,
          -1.036123011929865,
          0.13877044983026446,
          -0.7403879256074773,
          0.08214007542090634,
          0.9970260021393794,
          -0.508079713054527
        ],
        "eef_pose_l": [
          533.8592111381224,
          375.60634629872254,
          74.60715239910115,
          1.721119381173021,
          -0.12312307113779232,
          0.8024537184766335
        ],
        "eef_pose_r": [
          527.9720956440091,
          -161.59478296641254,
          -28.915906997385065,
          1.5787853190679793,
          -0.021716353082989158,
          2.7228330520626707
        ],
        "joint_status_l": {
          "velocity": [
            -0.1311226493094786,
            -0.2500199044588314,
            0.029236469955895572,
            0.520457008767572,
            -0.09023297569754618,
            -0.6363903782826696,
            0.3444354071668876
          ],
          "torque": [
            -30.1611328125,
            3.28125,
            -17.718505859375,
            0.048828125,
            -4.9456787109375,
            -2.2283935546875,
            0.59783935546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6991712008495021,
            -1.406005876277483,
            -0.10930735320213714,
            3.1555804767187112,
            -0.03308673493473968,
            0.17016675824343963,
            -0.7631097092906103
          ],
          "torque": [
            41.93115234375,
            0.79833984375,
            6.9091796875,
            -2.264404296875,
            2.574462890625,
            3.695068359375,
            -0.71044921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -16.8,
            -7.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.8,
            -7.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.5,
            -0.8,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.5,
            -0.8,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -257,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -15,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32439263519821915,
          -0.5503145922831457,
          -0.07747658637473125,
          -0.9898313585141305,
          -0.020477556294283543,
          -0.7778359451560366,
          0.34804126715377387
        ],
        "act_joint_pos_r": [
          -0.5400146988319574,
          -1.0525026209618948,
          0.13748496664805343,
          -0.7021343746760493,
          0.08256952735151035,
          1.0023766792764646,
          -0.5161864594760422
        ],
        "act_eef_pose_l": [
          534.1406875079824,
          375.01429076978366,
          75.48123144788774,
          1.7194639151117777,
          -0.12602946949817348,
          0.7962479950903959
        ],
        "act_eef_pose_r": [
          535.3694644042034,
          -163.1099481268787,
          -29.082256653080094,
          1.5834862719734364,
          -0.007092440718808045,
          2.7080914947887305
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 227,
      "colors": {
        "rgb_main": "colors/000227_rgb_main.jpg",
        "rgb_wrist_0": "colors/000227_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000227_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000227_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3266071904018349,
          -0.5475375406106232,
          -0.07780686552087035,
          -0.9959049685848567,
          -0.02223167822975566,
          -0.7691624546080809,
          0.3473210621484142
        ],
        "joint_pos_r": [
          -0.5470100982534792,
          -1.0385840775129374,
          0.13857911879141085,
          -0.7348644134821727,
          0.08208216056722197,
          0.9973238611733718,
          -0.5094154564346444
        ],
        "eef_pose_l": [
          533.9123393432975,
          375.5461013768736,
          74.71027872115698,
          1.7208031960072856,
          -0.12358098983658028,
          0.8018278777308036
        ],
        "eef_pose_r": [
          529.1196721204213,
          -161.7862904409696,
          -28.995829084631993,
          1.5797432400225757,
          -0.019363993030622736,
          2.7204207053184186
        ],
        "joint_status_l": {
          "velocity": [
            -0.23916490819875236,
            -0.29991273517904204,
            0.03566909577934485,
            0.655930542001748,
            0.18943958180919762,
            -0.9367093524135228,
            0.07777984658474679
          ],
          "torque": [
            -31.56005859375,
            2.95166015625,
            -17.620849609375,
            0.390625,
            -5.0006103515625,
            -2.3529052734375,
            0.5474853515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5670019192760556,
            -1.140218632281531,
            -0.08864421043275339,
            2.559058760652988,
            -0.02683211520693174,
            0.13799893131150043,
            -0.6188536788420684
          ],
          "torque": [
            41.572265625,
            0.19775390625,
            6.884765625,
            -2.67333984375,
            3.3087158203125,
            3.6767578125,
            -0.7379150390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.6,
            -8.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.6,
            -8.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.4,
            -1.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.4,
            -1.1,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -232,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -64,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32357325284781846,
          -0.5505670211080285,
          -0.07746379089014076,
          -0.990063862889195,
          -0.019338401215575257,
          -0.7778076772711123,
          0.34729628468736484
        ],
        "act_joint_pos_r": [
          -0.5390046910726496,
          -1.056151542541116,
          0.1372204174514937,
          -0.6944591921940765,
          0.08421400646179134,
          1.0036616948627468,
          -0.5183338374356703
        ],
        "act_eef_pose_l": [
          534.2270875079824,
          374.78069076978363,
          75.75483144788772,
          1.719573338871073,
          -0.12653508241581343,
          0.7956134175869654
        ],
        "act_eef_pose_r": [
          536.7430644042034,
          -163.24034812687867,
          -29.175856653080245,
          1.5832759191600296,
          -0.005117022894232814,
          2.704987942016725
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 228,
      "colors": {
        "rgb_main": "colors/000228_rgb_main.jpg",
        "rgb_wrist_0": "colors/000228_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000228_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000228_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32619147507273905,
          -0.5480359907468677,
          -0.07774809205599698,
          -0.9948379597511814,
          -0.021887941366945083,
          -0.7706951670430158,
          0.34742643112806876
        ],
        "joint_pos_r": [
          -0.5456727045172026,
          -1.0412694037548844,
          0.138368353536137,
          -0.7285632062121231,
          0.08219872001929306,
          0.9982981203064144,
          -0.5107273267913918
        ],
        "eef_pose_l": [
          533.9559966124328,
          375.4450376429356,
          74.85475430745419,
          1.7205670616905306,
          -0.12402865975678772,
          0.8008226646940378
        ],
        "eef_pose_r": [
          530.3310585655134,
          -162.0371921393638,
          -29.02349520951131,
          1.5804552570892922,
          -0.017019843297801908,
          2.718038879245861
        ],
        "joint_status_l": {
          "velocity": [
            -0.2827596607408722,
            -0.2733432171777572,
            0.03070362035761942,
            0.5155872546618312,
            0.27534221556338445,
            -0.7681284498959329,
            -0.014055401054147154
          ],
          "torque": [
            -33.66943359375,
            3.44970703125,
            -17.327880859375,
            0.81787109375,
            -2.6788330078125,
            -2.347412109375,
            0.55389404296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.7201242130836505,
            -1.6072235863875406,
            -0.12397344074033256,
            3.683124885987432,
            0.21764451670791551,
            0.579248968048951,
            -0.8214789213560891
          ],
          "torque": [
            42.26806640625,
            0.27099609375,
            7.1533203125,
            -2.50244140625,
            3.438720703125,
            3.885498046875,
            -0.82855224609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.8,
            -7.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.8,
            -7.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.8,
            -0.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.8,
            -0.8,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -207,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -68,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3227255737587135,
          -0.5518042597914934,
          -0.0773195356952742,
          -0.9874214251494423,
          -0.01680141438146084,
          -0.7801699801875234,
          0.34497145217538844
        ],
        "act_joint_pos_r": [
          -0.5390076414253233,
          -1.057286680286968,
          0.13713153010435633,
          -0.6913559714675174,
          0.08638472456588307,
          1.0019256030277397,
          -0.5215638213173353
        ],
        "act_eef_pose_l": [
          534.4318875079824,
          374.72869076978367,
          75.71963144788769,
          1.7205961985557854,
          -0.12628304500037368,
          0.7942547811471371
        ],
        "act_eef_pose_r": [
          537.6902644042035,
          -163.71794812687867,
          -29.444656653080074,
          1.583536232584333,
          -0.0030277116017664394,
          2.700863107601807
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 229,
      "colors": {
        "rgb_main": "colors/000229_rgb_main.jpg",
        "rgb_wrist_0": "colors/000229_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000229_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000229_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3257285513720179,
          -0.5484834981930548,
          -0.07769782521975797,
          -0.993993859290221,
          -0.02143716123423699,
          -0.7719527186461095,
          0.34740342014321335
        ],
        "joint_pos_r": [
          -0.5445765142044279,
          -1.0437159579657431,
          0.13817963819743315,
          -0.722956665357913,
          0.08253002371177981,
          0.9991798669494566,
          -0.5119778016669463
        ],
        "eef_pose_l": [
          534.0045142176283,
          375.32743074417306,
          75.01406047207394,
          1.7203885602513114,
          -0.12447189130233115,
          0.7999017243732459
        ],
        "eef_pose_r": [
          531.3941706944056,
          -162.23406613890984,
          -29.057440367832328,
          1.5809255290923112,
          -0.015069053130839801,
          2.715889804731357
        ],
        "joint_status_l": {
          "velocity": [
            -0.23276537556560228,
            -0.22501383838857691,
            0.025274962153432057,
            0.4244270935034322,
            0.2266593970539077,
            -0.6323168823101355,
            -0.011570287984152827
          ],
          "torque": [
            -34.35791015625,
            3.31787109375,
            -16.89453125,
            0.91552734375,
            -2.310791015625,
            -2.54150390625,
            0.00732421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6017391508845726,
            -1.3430035243686689,
            -0.10359278525562399,
            3.077636331663136,
            0.18186477318637984,
            0.48402313913609163,
            -0.6864316178036844
          ],
          "torque": [
            42.8466796875,
            -0.62255859375,
            7.01904296875,
            -2.386474609375,
            4.456787109375,
            3.856201171875,
            -0.87158203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.6,
            -8.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.6,
            -8.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.3,
            -1.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.3,
            -1.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -295,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -45,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32240032400851926,
          -0.5526341990645987,
          -0.07722318605605662,
          -0.9856506082053522,
          -0.015619240027565012,
          -0.7818792252748159,
          0.3437144620472131
        ],
        "act_joint_pos_r": [
          -0.5390299911161365,
          -1.0572835711495676,
          0.1371325069455785,
          -0.6912011000510653,
          0.08744162745329209,
          1.000042933301585,
          -0.5231536091839531
        ],
        "act_eef_pose_l": [
          534.5358875079824,
          374.67909076978367,
          75.64283144788787,
          1.7210735942660806,
          -0.1258748457321837,
          0.7933370836696246
        ],
        "act_eef_pose_r": [
          538.0942644042035,
          -163.94754812687867,
          -29.512656653080285,
          1.5837906340940968,
          -0.001987795862862987,
          2.6986604898741895
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 230,
      "colors": {
        "rgb_main": "colors/000230_rgb_main.jpg",
        "rgb_wrist_0": "colors/000230_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000230_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000230_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3251981737572356,
          -0.5491230686036113,
          -0.07762476382084099,
          -0.9927135577856889,
          -0.02054166617955579,
          -0.7734964741621914,
          0.3468617736362904
        ],
        "joint_pos_r": [
          -0.5435250534174332,
          -1.0462672657755507,
          0.13798265064322976,
          -0.7170119112124274,
          0.08329357650182502,
          0.9996107414418767,
          -0.5138427986392727
        ],
        "eef_pose_l": [
          534.0874362464803,
          375.22319467250014,
          75.12199604549974,
          1.7204700995297773,
          -0.1247262706081457,
          0.7988701697462193
        ],
        "eef_pose_r": [
          532.6054591831254,
          -162.51971458562733,
          -29.139631987129746,
          1.5814380578970646,
          -0.0127664743749646,
          2.7129677028583874
        ],
        "joint_status_l": {
          "velocity": [
            -0.3021588611624715,
            -0.37919090614835227,
            0.043369119492986385,
            0.7627760577992859,
            0.5316063455239606,
            -0.9053104194594042,
            -0.33989962681690855
          ],
          "torque": [
            -34.82666015625,
            3.5888671875,
            -15.88134765625,
            1.251220703125,
            -2.0489501953125,
            -2.5177001953125,
            -0.32867431640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.4854524108868219,
            -1.1897258913036168,
            -0.09181281147219167,
            2.7874853929397148,
            0.4479762904039397,
            0.04667534423230535,
            -1.0055378820710281
          ],
          "torque": [
            40.6494140625,
            -0.09521484375,
            6.988525390625,
            -2.850341796875,
            4.852294921875,
            2.9974365234375,
            -0.882568359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.6,
            -8.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.6,
            -8.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.3,
            -1.5,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.3,
            -1.5,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -248,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -110,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3227366307657486,
          -0.5533253951465816,
          -0.07715035361826425,
          -0.9844966889387182,
          -0.01571058360377347,
          -0.7825734327996574,
          0.343413833677614
        ],
        "act_joint_pos_r": [
          -0.540172065738362,
          -1.0548638896484457,
          0.137323188055093,
          -0.6971886345572078,
          0.09021944652512204,
          0.9930659515407549,
          -0.5273521148027439
        ],
        "act_eef_pose_l": [
          534.6310875079824,
          374.63269076978366,
          75.39003144788767,
          1.7212490003555951,
          -0.12518555228799078,
          0.7931599683328954
        ],
        "act_eef_pose_r": [
          538.1742644042035,
          -164.18994812687868,
          -29.63425665308023,
          1.5839772800460592,
          -0.00019362411791470376,
          2.694626440355884
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 231,
      "colors": {
        "rgb_main": "colors/000231_rgb_main.jpg",
        "rgb_wrist_0": "colors/000231_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000231_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000231_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.324869832234227,
          -0.549615383737768,
          -0.07756890495544062,
          -0.9917402731581918,
          -0.019927919617381655,
          -0.7746029364240106,
          0.3464434681959061
        ],
        "joint_pos_r": [
          -0.5428742148170728,
          -1.0479101087630829,
          0.13785636805109255,
          -0.7132029021849358,
          0.08437705231061039,
          0.9988079053775959,
          -0.5160181311048443
        ],
        "eef_pose_l": [
          534.1514484647994,
          375.1511965487276,
          75.1697772961048,
          1.7205546888325296,
          -0.12482325538983541,
          0.7981603504899162
        ],
        "eef_pose_r": [
          533.5914423422298,
          -162.7991515452037,
          -29.22453286179538,
          1.581880341294463,
          -0.01063956049573611,
          2.709925486355379
        ],
        "joint_status_l": {
          "velocity": [
            -0.23037896393152124,
            -0.4006694150389123,
            0.045202211247152846,
            0.7822840234696926,
            0.4554588564287809,
            -0.8607882209776818,
            -0.32719087799648605
          ],
          "torque": [
            -35.14892578125,
            3.662109375,
            -14.862060546875,
            1.25732421875,
            -2.021484375,
            -2.479248046875,
            -0.42755126953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.291823493626886,
            -0.7509861864649636,
            -0.05758174128533966,
            1.729489895216929,
            0.6309599659977128,
            -0.6201127251319605,
            -1.2240341384157638
          ],
          "torque": [
            41.97509765625,
            -0.9521484375,
            6.89697265625,
            -2.197265625,
            5.167236328125,
            2.2723388671875,
            -0.7745361328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.5,
            -8.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.5,
            -8.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.7,
            -1.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.7,
            -1.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -274,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -68,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.322619619213488,
          -0.5534251327040411,
          -0.07713752910901482,
          -0.9842083298598865,
          -0.014718922648485483,
          -0.7824173930141752,
          0.3422433223082723
        ],
        "act_joint_pos_r": [
          -0.5404877733344216,
          -1.0544023130264328,
          0.13736799346162562,
          -0.6989073635965645,
          0.09153588399767408,
          0.9909889897145447,
          -0.5288007717236821
        ],
        "act_eef_pose_l": [
          534.6806875079824,
          374.70229076978364,
          75.28523144788782,
          1.7219280912880681,
          -0.124810709282805,
          0.793329162055055
        ],
        "act_eef_pose_r": [
          538.2374644042035,
          -164.1459481268787,
          -29.590256653080132,
          1.583594064901956,
          0.00023833218758375295,
          2.6933906836943846
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 232,
      "colors": {
        "rgb_main": "colors/000232_rgb_main.jpg",
        "rgb_wrist_0": "colors/000232_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000232_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000232_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3244581413220562,
          -0.5503239047100658,
          -0.07748885856368194,
          -0.9903501759616073,
          -0.019059186247108454,
          -0.7760984050361649,
          0.34578635901952476
        ],
        "joint_pos_r": [
          -0.5424072933303212,
          -1.0491604698079362,
          0.13776180543017363,
          -0.7104145234556862,
          0.08566447262123242,
          0.9974337554603403,
          -0.518362044593414
        ],
        "eef_pose_l": [
          534.2464121520565,
          375.05813125843434,
          75.20427650869362,
          1.7207302007844427,
          -0.1248672082307934,
          0.797227455252229
        ],
        "eef_pose_r": [
          534.4701527703462,
          -163.05252877302095,
          -29.29726510020032,
          1.5822230715614258,
          -0.008606732194840434,
          2.7068581462062666
        ],
        "joint_status_l": {
          "velocity": [
            -0.1985545316727233,
            -0.33492274533086785,
            0.037942462051021586,
            0.6632998160043257,
            0.4687346440619411,
            -0.6824305744110859,
            -0.38263667954963054
          ],
          "torque": [
            -36.09375,
            3.984375,
            -12.982177734375,
            1.007080078125,
            -1.9244384765625,
            -2.3712158203125,
            -0.50445556640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.20730204551000497,
            -0.566102371299948,
            -0.04253043823498892,
            1.242736612227624,
            0.6340937270609137,
            -0.6960141727061497,
            -1.1273492806789243
          ],
          "torque": [
            41.27197265625,
            -0.40283203125,
            9.197998046875,
            -2.410888671875,
            5.2825927734375,
            1.9757080078125,
            -0.71685791015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.6,
            -8.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.6,
            -8.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.5,
            -1.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.5,
            -1.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -207,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -93,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3224110317337892,
          -0.5536242974557736,
          -0.07710012098838448,
          -0.9830922893378591,
          -0.01598409522540386,
          -0.7824117552859752,
          0.3433791510305704
        ],
        "act_joint_pos_r": [
          -0.5398154700854794,
          -1.0552702985279907,
          0.1373100910917141,
          -0.6974590833155361,
          0.09119796166472316,
          0.9908291832111499,
          -0.529051522815978
        ],
        "act_eef_pose_l": [
          534.9182875079824,
          375.0270907697837,
          75.49403144788793,
          1.7211305921048472,
          -0.12535478866109184,
          0.7944713123793593
        ],
        "act_eef_pose_r": [
          538.6182644042035,
          -164.0739481268787,
          -29.48145665308016,
          1.5839408173933989,
          0.0012073072343501208,
          2.6928904422239204
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 233,
      "colors": {
        "rgb_main": "colors/000233_rgb_main.jpg",
        "rgb_wrist_0": "colors/000233_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000233_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000233_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32409847149921406,
          -0.5509217252125014,
          -0.07742027049192748,
          -0.9891242864394465,
          -0.018312234400784045,
          -0.7772926004589831,
          0.34518259647172617
        ],
        "joint_pos_r": [
          -0.5421014033727252,
          -1.0499395498103739,
          0.1377036989682088,
          -0.7087308133427734,
          0.0864609905962819,
          0.9965286155400349,
          -0.5198276492272477
        ],
        "eef_pose_l": [
          534.3427983102212,
          375.0097241155027,
          75.23195402084261,
          1.720907092944797,
          -0.12488995322522381,
          0.7965569007719873
        ],
        "eef_pose_r": [
          535.0179201946863,
          -163.198457229882,
          -29.332451697875257,
          1.5824336443415103,
          -0.007321721393404199,
          2.7049550454819324
        ],
        "joint_status_l": {
          "velocity": [
            -0.1822381198399725,
            -0.2918691940516638,
            0.03457512664373219,
            0.651436473879663,
            0.25143161536198,
            -0.5528524158044945,
            -0.1947663633181662
          ],
          "torque": [
            -36.42333984375,
            3.9990234375,
            -10.80322265625,
            0.98876953125,
            -2.02880859375,
            -2.0892333984375,
            -0.57220458984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2468735138778655,
            -0.5757038820233262,
            -0.04250839694330821,
            1.217310940274885,
            0.511577787211337,
            -0.6155205377122996,
            -0.9961489677392521
          ],
          "torque": [
            41.7333984375,
            -0.263671875,
            7.94677734375,
            -2.099609375,
            5.233154296875,
            1.739501953125,
            -0.62347412109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.7,
            -8.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.7,
            -8.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.5,
            -0.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.5,
            -0.8,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -146,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32252433203252984,
          -0.5537275183202427,
          -0.07708948233159761,
          -0.9829197194680303,
          -0.01706565300882731,
          -0.7823986730805007,
          0.34449772113925625
        ],
        "act_joint_pos_r": [
          -0.5392363940308127,
          -1.0560096010087532,
          0.1372459932870338,
          -0.6950976624981234,
          0.09109053846797409,
          0.9915272326585963,
          -0.5292322179794507
        ],
        "act_eef_pose_l": [
          534.9774875079825,
          375.04629076978364,
          75.5652314478878,
          1.7204949249218038,
          -0.12566383352697483,
          0.7947408100346637
        ],
        "act_eef_pose_r": [
          539.0334644042034,
          -164.29874812687868,
          -29.431056653080077,
          1.5842125948124954,
          0.0019954886485666675,
          2.6921165106075113
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 234,
      "colors": {
        "rgb_main": "colors/000234_rgb_main.jpg",
        "rgb_wrist_0": "colors/000234_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000234_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000234_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3238129030879983,
          -0.5514112104393677,
          -0.07736246487214091,
          -0.9880383053696449,
          -0.018022645855806055,
          -0.7781962338360524,
          0.3449899547653309
        ],
        "joint_pos_r": [
          -0.5418098022215142,
          -1.05058404725443,
          0.1376555584344823,
          -0.7073216578463172,
          0.08698928144671747,
          0.9959260390082166,
          -0.5208789973220467
        ],
        "eef_pose_l": [
          534.4515566453116,
          375.0150749762248,
          75.28623621689391,
          1.7208737967047274,
          -0.12500740098449806,
          0.7962186674014209
        ],
        "eef_pose_r": [
          535.4498460545152,
          -163.30901661135678,
          -29.34726504182268,
          1.5826202963046891,
          -0.006314390905689749,
          2.7035471479902187
        ],
        "joint_status_l": {
          "velocity": [
            -0.13916156963977855,
            -0.2501538732402331,
            0.029481244875784185,
            0.5527909736766645,
            0.10335217926413232,
            -0.45385005280884627,
            -0.053159663755852904
          ],
          "torque": [
            -36.6650390625,
            4.1748046875,
            -9.661865234375,
            0.537109375,
            -1.9775390625,
            -2.1807861328125,
            -0.0274658203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2779198877869149,
            -0.5859425240153371,
            -0.04423173137935166,
            1.3201525617869692,
            0.44292269498902304,
            -0.4750570746994143,
            -0.9021212243558452
          ],
          "torque": [
            41.63818359375,
            -0.54931640625,
            7.574462890625,
            -2.191162109375,
            5.0628662109375,
            1.6571044921875,
            -0.6207275390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.5,
            -8.5,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.5,
            -8.5,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.5,
            -1.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.5,
            -1.6,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -202,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -146,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32255870114679747,
          -0.5527939249503986,
          -0.07726852458498257,
          -0.988215389695659,
          -0.01801425728143318,
          -0.7773944290317306,
          0.34505476426609155
        ],
        "act_joint_pos_r": [
          -0.538476468568839,
          -1.056281335135691,
          0.1372010140435738,
          -0.6925707212714282,
          0.09124908845599443,
          0.9917649546375183,
          -0.5298557847584295
        ],
        "act_eef_pose_l": [
          534.9014875079824,
          374.3014907697837,
          75.82763144788764,
          1.7198973098123753,
          -0.12570269511356055,
          0.7956057629429658
        ],
        "act_eef_pose_r": [
          539.6438644042034,
          -164.89714812687868,
          -29.321456653080077,
          1.5847188072074372,
          0.00337194531590728,
          2.6902813081096326
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 235,
      "colors": {
        "rgb_main": "colors/000235_rgb_main.jpg",
        "rgb_wrist_0": "colors/000235_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000235_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000235_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32360448654688884,
          -0.5516991405985742,
          -0.07733539628962566,
          -0.98772356863213,
          -0.017959673811243044,
          -0.7783893470997327,
          0.34496444026041484
        ],
        "joint_pos_r": [
          -0.5412270639218917,
          -1.0516983779225422,
          0.13756933831782492,
          -0.7046465783266099,
          0.08782759619201436,
          0.995061925984533,
          -0.5226122526799006
        ],
        "eef_pose_l": [
          534.5306074875814,
          374.94617972178776,
          75.35808178206065,
          1.720751846141533,
          -0.12511913630148394,
          0.7960617627845393
        ],
        "eef_pose_r": [
          536.2254461968865,
          -163.5573121298647,
          -29.3566253740249,
          1.5829865008776738,
          -0.0045271992379187454,
          2.7010887027608352
        ],
        "joint_status_l": {
          "velocity": [
            -0.1129414921789973,
            -0.11823322289439275,
            0.00722193110203051,
            -0.053115108314294446,
            -0.005894840921477629,
            0.10744798233552899,
            0.00975470491360042
          ],
          "torque": [
            -36.3427734375,
            4.06494140625,
            -9.320068359375,
            -1.66015625,
            -2.904052734375,
            -0.8056640625,
            -0.02197265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.2970555369450345,
            -0.49494478140310605,
            -0.03977784843423038,
            1.30415409799145,
            0.36951026638698536,
            -0.3560624039788962,
            -0.7822783924131826
          ],
          "torque": [
            42.71484375,
            -0.21240234375,
            6.89697265625,
            -2.63671875,
            5.1654052734375,
            1.5545654296875,
            -0.615234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.4,
            -16.5,
            -11.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -16.5,
            -11.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -18.0,
            -2.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -18.0,
            -2.0,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -278,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -89,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32276397127062156,
          -0.5526699280420563,
          -0.07729178659983621,
          -0.9888912680245204,
          -0.01864811405287515,
          -0.7761255076695648,
          0.34520132188770813
        ],
        "act_joint_pos_r": [
          -0.5385415541280318,
          -1.0573239868942401,
          0.13711921069057603,
          -0.6898790035240585,
          0.09265189436516508,
          0.9944954834590602,
          -0.5308075012867652
        ],
        "act_eef_pose_l": [
          534.9630875079824,
          374.30709076978366,
          75.79723144788777,
          1.7197475730334206,
          -0.12538699520241345,
          0.7964582073473935
        ],
        "act_eef_pose_r": [
          539.7374644042035,
          -164.9387481268787,
          -29.22865665308018,
          1.5831804749700114,
          0.0034721574404376265,
          2.6905974760426083
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 236,
      "colors": {
        "rgb_main": "colors/000236_rgb_main.jpg",
        "rgb_wrist_0": "colors/000236_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000236_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000236_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32342721156402743,
          -0.5518937620570089,
          -0.07732506881893322,
          -0.9878837674244598,
          -0.018033038803341225,
          -0.7780750571736037,
          0.3449960922301755
        ],
        "joint_pos_r": [
          -0.5407445176471236,
          -1.052569271556435,
          0.13749946191436696,
          -0.7023550501375113,
          0.08851406153881777,
          0.9946376641761678,
          -0.5239482740907089
        ],
        "eef_pose_l": [
          534.6069411763692,
          374.82488725955903,
          75.44371709921705,
          1.7205753708726992,
          -0.12519805986345886,
          0.7960603535441825
        ],
        "eef_pose_r": [
          536.837311942856,
          -163.7951107574262,
          -29.346653639087975,
          1.5832057450294295,
          -0.0031266008286644294,
          2.699195218926048
        ],
        "joint_status_l": {
          "velocity": [
            -0.0716278391377223,
            -0.08382345414448267,
            0.003594373652160421,
            -0.1088068557200117,
            -0.06642616781457611,
            0.2105451367393485,
            0.022164149316772352
          ],
          "torque": [
            -36.6943359375,
            3.5009765625,
            -8.740234375,
            -2.716064453125,
            -3.651123046875,
            -0.6390380859375,
            0.00823974609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.23791304319242812,
            -0.5134941117832525,
            -0.041065920994953764,
            1.3473732956015283,
            0.4468727654377558,
            -0.01535506457539526,
            -0.7407746891918698
          ],
          "torque": [
            41.4404296875,
            -1.47216796875,
            7.01904296875,
            -1.312255859375,
            5.10498046875,
            2.1221923828125,
            -0.6463623046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.4,
            -9.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.4,
            -9.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.4,
            -0.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.4,
            -0.6,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -246,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -135,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3225452249299825,
          -0.5543496387057509,
          -0.07711124191322524,
          -0.9859649945232554,
          -0.018955560219817414,
          -0.7790867767809673,
          0.34536932155234445
        ],
        "act_joint_pos_r": [
          -0.5389584628161366,
          -1.0552605022338972,
          0.1373479401275389,
          -0.7002204492020389,
          0.09429896536582927,
          0.9895347648083229,
          -0.5319260715128744
        ],
        "act_eef_pose_l": [
          535.1950875079824,
          374.05189076978365,
          75.79643144788774,
          1.7191297332101951,
          -0.12511183375842094,
          0.7949345230201571
        ],
        "act_eef_pose_r": [
          538.7694644042034,
          -163.44834812687867,
          -28.31025665308016,
          1.5806889623958027,
          0.0029459557803808434,
          2.692889204164814
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 237,
      "colors": {
        "rgb_main": "colors/000237_rgb_main.jpg",
        "rgb_wrist_0": "colors/000237_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000237_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000237_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32330240595928783,
          -0.5521424702010522,
          -0.07730657978973698,
          -0.987838406388295,
          -0.01815632171206648,
          -0.7779680730080544,
          0.34504194409832206
        ],
        "joint_pos_r": [
          -0.5403523023325181,
          -1.0533481804052336,
          0.13744087175216851,
          -0.7005975539147453,
          0.08939197631206197,
          0.994322520453338,
          -0.5253099222400773
        ],
        "eef_pose_l": [
          534.6822969836687,
          374.7214076065582,
          75.5016661025198,
          1.7203947373326622,
          -0.12520918533841882,
          0.7960159264818377
        ],
        "eef_pose_r": [
          537.3307541238896,
          -163.92384349414067,
          -29.27190862954322,
          1.583056769883202,
          -0.0019098339473654056,
          2.69770379460079
        ],
        "joint_status_l": {
          "velocity": [
            -0.08177313939494724,
            -0.23836716824332527,
            0.0210958684738749,
            0.20232251424090464,
            -0.08631521310598078,
            -0.12081644418415749,
            0.03535572227297834
          ],
          "torque": [
            -37.2509765625,
            3.3984375,
            -7.9345703125,
            -0.518798828125,
            -3.7811279296875,
            -1.4593505859375,
            0.03936767578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.15053022811750694,
            -0.20652466637560707,
            -0.01003631945473149,
            0.040726107820354684,
            0.5299391880859705,
            -0.5170623597230417,
            -0.7145230477307862
          ],
          "torque": [
            41.05224609375,
            -0.5126953125,
            6.94580078125,
            -3.41796875,
            5.1910400390625,
            1.256103515625,
            -0.6884765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.7,
            -5.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.7,
            -5.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.3,
            -1.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.3,
            -1.2,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -181,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -137,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3233253735552298,
          -0.5558579200231673,
          -0.07696505366772541,
          -0.9840385271202486,
          -0.023533709588095766,
          -0.7800401296653922,
          0.3497344289789112
        ],
        "act_joint_pos_r": [
          -0.5401299769974304,
          -1.050918292051591,
          0.13777120817434943,
          -0.7173682350755769,
          0.09325101145167693,
          0.9894132273560228,
          -0.5322206526103166
        ],
        "act_eef_pose_l": [
          535.5574875079824,
          373.8470907697837,
          75.8324314478878,
          1.716542344482752,
          -0.12561145750540376,
          0.7952802890276573
        ],
        "act_eef_pose_r": [
          535.4926644042034,
          -160.78354812687869,
          -26.767856653080116,
          1.5757879824630519,
          0.002307356918933304,
          2.7044761838479876
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 238,
      "colors": {
        "rgb_main": "colors/000238_rgb_main.jpg",
        "rgb_wrist_0": "colors/000238_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000238_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000238_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32322709279463885,
          -0.552362006664023,
          -0.0772871504682319,
          -0.9876520670971789,
          -0.018235818132339026,
          -0.7780793451057191,
          0.3450745067631841
        ],
        "joint_pos_r": [
          -0.5401739362254994,
          -1.0534339700802962,
          0.13744903667495284,
          -0.7015273327854609,
          0.09019867685287195,
          0.9934689424894582,
          -0.5264968310976796
        ],
        "eef_pose_l": [
          534.7333462304656,
          374.6548575938893,
          75.53089789496909,
          1.7202689520595225,
          -0.12519932797741026,
          0.7959083839814369
        ],
        "eef_pose_r": [
          537.3964691455872,
          -163.68399134470857,
          -29.012581331809088,
          1.582351716307097,
          -0.0010865656431042533,
          2.6975279788560096
        ],
        "joint_status_l": {
          "velocity": [
            -0.0736395575002824,
            -0.21465792950925433,
            0.018997563637546122,
            0.18219846432732112,
            -0.0777298529281989,
            -0.10879941205921284,
            0.03183905818637811
          ],
          "torque": [
            -37.44140625,
            3.2666015625,
            -7.659912109375,
            0.445556640625,
            -3.892822265625,
            -1.8017578125,
            0.0897216796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.004747456613163337,
            0.27168521417308966,
            0.03479349575541413,
            -1.7107669909570689,
            0.32964241438748765,
            -0.43800431616514146,
            -0.6181544918724136
          ],
          "torque": [
            38.48876953125,
            3.22265625,
            6.884765625,
            -6.170654296875,
            5.057373046875,
            1.4849853515625,
            -0.70953369140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.5,
            -8.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.5,
            -8.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.7,
            -0.9,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.7,
            -0.9,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -265,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -162,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3233462354715109,
          -0.5591522622986776,
          -0.07658069438009443,
          -0.9766162928253531,
          -0.02439448747841692,
          -0.7855191296195805,
          0.35033660370215236
        ],
        "act_joint_pos_r": [
          -0.5402909132058973,
          -1.0461772876619027,
          0.1383176081506681,
          -0.742467680928426,
          0.09984205786998636,
          0.9904955323369047,
          -0.5279149277017894
        ],
        "act_eef_pose_l": [
          536.1998875079823,
          374.03509076978366,
          75.5244314478878,
          1.7159097623547166,
          -0.12517612164434463,
          0.7941880696966278
        ],
        "act_eef_pose_r": [
          531.3142644042035,
          -156.20674812687867,
          -22.28705665308007,
          1.5607596271065336,
          -0.006641991369427914,
          2.7205612017125103
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 239,
      "colors": {
        "rgb_main": "colors/000239_rgb_main.jpg",
        "rgb_wrist_0": "colors/000239_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000239_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000239_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32323924877527066,
          -0.5533297463572002,
          -0.07719113202988961,
          -0.9863111849056052,
          -0.019319915448529526,
          -0.778932711248603,
          0.3460106747781053
        ],
        "joint_pos_r": [
          -0.5401864453216734,
          -1.0523917075437388,
          0.13757485756752794,
          -0.7074912127378186,
          0.09156897025500026,
          0.9928882518891544,
          -0.5269662360168177
        ],
        "eef_pose_l": [
          534.9502532047293,
          374.5111924412528,
          75.5638879877983,
          1.719498963234299,
          -0.12523557876176059,
          0.7956818909084736
        ],
        "eef_pose_r": [
          536.551451573028,
          -162.58173208612098,
          -28.057188184813043,
          1.5792940203902608,
          -0.0016272298247780536,
          2.7007735302742
        ],
        "joint_status_l": {
          "velocity": [
            0.011554222420162574,
            -0.6288131758260818,
            0.06592532181448618,
            1.047017464538058,
            -0.5480376157223632,
            -0.7113122050332876,
            0.467186544866216
          ],
          "torque": [
            -33.91845703125,
            2.5927734375,
            -9.149169921875,
            0.750732421875,
            -4.2315673828125,
            -2.083740234375,
            0.4119873046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.011282198745465877,
            0.6711375530947805,
            0.08021469717300889,
            -3.777347157686073,
            0.8934671110145675,
            -0.2584060903636498,
            -0.10245568020827989
          ],
          "torque": [
            38.32763671875,
            5.14892578125,
            12.158203125,
            -7.94677734375,
            5.2386474609375,
            1.5838623046875,
            -0.670166015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -14.9,
            -9.8,
            1.2,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -14.9,
            -9.8,
            1.2,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -18.1,
            -0.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -18.1,
            -0.4,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -173,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.323950993266016,
          -0.5607058080818693,
          -0.07642076975118083,
          -0.9740134772989208,
          -0.02651260965181956,
          -0.7853336664542085,
          0.3521149127761556
        ],
        "act_joint_pos_r": [
          -0.5414054654044631,
          -1.0411110159644033,
          0.13887812334776503,
          -0.7672315984529948,
          0.10533552061597273,
          0.9875911184933553,
          -0.5305121885800783
        ],
        "act_eef_pose_l": [
          536.7342875079823,
          374.2086907697837,
          75.2260314478879,
          1.7152738271518282,
          -0.1251415954448508,
          0.7957504334118275
        ],
        "act_eef_pose_r": [
          527.4302644042035,
          -152.24914812687868,
          -18.896656653080072,
          1.5492414383572701,
          -0.008792660289034263,
          2.7331325711557106
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 240,
      "colors": {
        "rgb_main": "colors/000240_rgb_main.jpg",
        "rgb_wrist_0": "colors/000240_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000240_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000240_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32330436619234876,
          -0.5546125750548347,
          -0.07705685188408523,
          -0.9841740287857211,
          -0.02049305146888522,
          -0.7802437629865964,
          0.34700876946077797
        ],
        "joint_pos_r": [
          -0.5402551300840644,
          -1.0509945078092637,
          0.13773987541611848,
          -0.7151903673438794,
          0.0933740911310903,
          0.9923084155566111,
          -0.5272596114248943
        ],
        "eef_pose_l": [
          535.2407268471009,
          374.42839665618874,
          75.53339249145324,
          1.7187350642221908,
          -0.12521623106418933,
          0.795491590590053
        ],
        "eef_pose_r": [
          535.4166274377592,
          -161.18456997827317,
          -26.826681923612597,
          1.5752807212324962,
          -0.0026876897417201758,
          2.7050515213126953
        ],
        "joint_status_l": {
          "velocity": [
            0.0698336643223385,
            -0.6580497587793666,
            0.06869484430760409,
            1.0973071972291137,
            -0.6500931102855212,
            -0.5496933621627065,
            0.5514472139944715
          ],
          "torque": [
            -30.49072265625,
            2.63671875,
            -9.844970703125,
            0.506591796875,
            -4.625244140625,
            -2.296142578125,
            0.5712890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.12423255055971083,
            1.067385638388707,
            0.1229271510752028,
            -5.620287198273566,
            1.2917962848724152,
            -0.5094530573170886,
            -0.3512679726642709
          ],
          "torque": [
            37.6025390625,
            5.82275390625,
            12.445068359375,
            -7.4462890625,
            4.9053955078125,
            1.6204833984375,
            -0.66009521484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -16.6,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.6,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.5,
            -1.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.5,
            -1.0,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -253,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -175,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32380049930139765,
          -0.5621130515225317,
          -0.07630645681233174,
          -0.9730495172194008,
          -0.02636924233959135,
          -0.785622410064794,
          0.3522170012790217
        ],
        "act_joint_pos_r": [
          -0.5420161057388739,
          -1.039453738858132,
          0.13910453183216961,
          -0.7787989298880517,
          0.10659292955128798,
          0.9827460944946964,
          -0.531174454866969
        ],
        "act_eef_pose_l": [
          537.0166875079824,
          373.7486907697837,
          75.14363144788767,
          1.715199608689797,
          -0.12520672453153003,
          0.7950072011364637
        ],
        "act_eef_pose_r": [
          525.9678644042035,
          -150.1971481268787,
          -17.8838566530801,
          1.5463258765031627,
          -0.009902047999402534,
          2.7371804172757064
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 241,
      "colors": {
        "rgb_main": "colors/000241_rgb_main.jpg",
        "rgb_wrist_0": "colors/000241_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000241_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000241_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32340192349563307,
          -0.5556960487616628,
          -0.07694564024759679,
          -0.9824476659937068,
          -0.02147430771711805,
          -0.7810972982081648,
          0.34785412794936077
        ],
        "joint_pos_r": [
          -0.5404505164340843,
          -1.0495243506400405,
          0.1379112539303789,
          -0.7230965252295646,
          0.095109855425444,
          0.9913711451529912,
          -0.5277502195271708
        ],
        "eef_pose_l": [
          535.5032287720956,
          374.3659982962197,
          75.4773939239131,
          1.7181641332516655,
          -0.12520419628169135,
          0.7954888866240494
        ],
        "eef_pose_r": [
          534.2563422384562,
          -159.79964700646056,
          -25.67870677765748,
          1.5714866070608804,
          -0.003619842404010869,
          2.7091744633465744
        ],
        "joint_status_l": {
          "velocity": [
            0.04304491748019501,
            -0.6930158587632462,
            0.06902977508427277,
            1.014970132682258,
            -0.528637347901928,
            -0.48869766714876306,
            0.4711764229972104
          ],
          "torque": [
            -31.31103515625,
            2.6513671875,
            -10.498046875,
            0.604248046875,
            -4.7479248046875,
            -2.3236083984375,
            0.560302734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.1690786582084769,
            1.0875939955763414,
            0.1288702125695762,
            -6.0156822800507825,
            1.2401354297517653,
            -0.9314779986215882,
            -0.3698065098380887
          ],
          "torque": [
            31.01806640625,
            9.57275390625,
            12.6220703125,
            -9.11865234375,
            4.8834228515625,
            1.19384765625,
            -0.640869140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.4,
            -15.8,
            -8.6,
            1.3,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -15.8,
            -8.6,
            1.3,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.1,
            -0.9,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.1,
            -0.9,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -269,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -209,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3232930135224714,
          -0.5657594716092658,
          -0.07599390665614882,
          -0.9697371012903022,
          -0.025956716935839484,
          -0.7883951366830148,
          0.3518195291398156
        ],
        "act_joint_pos_r": [
          -0.5463312004175966,
          -1.0377739490704643,
          0.13941943209472263,
          -0.797745061874717,
          0.1094820692555789,
          0.9721118923304841,
          -0.5321189751404988
        ],
        "act_eef_pose_l": [
          537.5934875079824,
          372.5638907697837,
          75.0340314478879,
          1.7146658789930171,
          -0.1246803809058874,
          0.792038210346007
        ],
        "act_eef_pose_r": [
          523.1614644042035,
          -146.46754812687868,
          -18.08065665308004,
          1.5432153935633244,
          -0.01567525236965801,
          2.7420704226001535
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 242,
      "colors": {
        "rgb_main": "colors/000242_rgb_main.jpg",
        "rgb_wrist_0": "colors/000242_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000242_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000242_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32344290515929336,
          -0.5570425214855191,
          -0.0768144650201877,
          -0.9805935105020889,
          -0.022315801547400534,
          -0.782058498575243,
          0.3486024236120123
        ],
        "joint_pos_r": [
          -0.5408973541614279,
          -1.047795034777381,
          0.13812124952601085,
          -0.733085605454765,
          0.09712447223656763,
          0.9894863128969354,
          -0.5283546187426239
        ],
        "eef_pose_l": [
          535.8051260199495,
          374.18890394825047,
          75.41122274801916,
          1.7176111522524191,
          -0.1251706875208167,
          0.7952297088235339
        ],
        "eef_pose_r": [
          532.8148034975418,
          -158.02946283068366,
          -24.42470296510831,
          1.5672081676812115,
          -0.004918650701259459,
          2.7139732827850045
        ],
        "joint_status_l": {
          "velocity": [
            -0.016187819342761145,
            -0.9414028481717907,
            0.08861768967716177,
            1.1724576150848875,
            -0.3932072649230067,
            -0.6843367322053595,
            0.3474371498919382
          ],
          "torque": [
            -28.4326171875,
            1.83837890625,
            -10.833740234375,
            2.05078125,
            -4.8468017578125,
            -2.259521484375,
            0.56854248046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5868380878020218,
            1.0822453372272278,
            0.1401995824551472,
            -6.983015340326304,
            1.3345811166872723,
            -1.8763820802458753,
            -0.4065385007581135
          ],
          "torque": [
            28.90869140625,
            5.33935546875,
            12.957763671875,
            -7.51953125,
            4.954833984375,
            1.322021484375,
            -0.73150634765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.3,
            -8.1,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.3,
            -8.1,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.5,
            -1.2,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.5,
            -1.2,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -248,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -219,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32254769909154307,
          -0.5693446350028244,
          -0.07567272907535681,
          -0.9655899511982438,
          -0.025632530821412963,
          -0.7909199856561816,
          0.3519630226566479
        ],
        "act_joint_pos_r": [
          -0.5532771328591388,
          -1.0389072558688746,
          0.139479047174027,
          -0.808051075714427,
          0.10786389359877102,
          0.9650645934288623,
          -0.5255678626008247
        ],
        "act_eef_pose_l": [
          538.3302875079823,
          371.76469076978367,
          75.01403144788769,
          1.7141650330836307,
          -0.12497411206172473,
          0.7901119681461721
        ],
        "act_eef_pose_r": [
          520.2990644042035,
          -143.23634812687868,
          -21.103056653080102,
          1.5452966615500907,
          -0.028753562058031062,
          2.7468933923314274
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 243,
      "colors": {
        "rgb_main": "colors/000243_rgb_main.jpg",
        "rgb_wrist_0": "colors/000243_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000243_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000243_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3233322996731223,
          -0.5589883115100431,
          -0.07663314081800143,
          -0.9782060299586732,
          -0.02292296392076609,
          -0.7834637805512955,
          0.34918742712905254
        ],
        "joint_pos_r": [
          -0.5417153582772442,
          -1.0466976480671517,
          0.1382694981438962,
          -0.7406858824742943,
          0.09847121883588525,
          0.987317911395996,
          -0.5285862089097995
        ],
        "eef_pose_l": [
          536.2061493958355,
          373.81348677874473,
          75.34084199197062,
          1.717036151355661,
          -0.12511261334489474,
          0.7944472403382239
        ],
        "eef_pose_r": [
          531.5144237816208,
          -156.4056466772303,
          -23.782492230477686,
          1.5642824910121043,
          -0.006846376599074173,
          2.717703172706046
        ],
        "joint_status_l": {
          "velocity": [
            -0.08473436370426413,
            -1.1184499503018586,
            0.10372140910619443,
            1.3624963214455832,
            -0.2926245947687811,
            -0.8052464018541983,
            0.2997554761647869
          ],
          "torque": [
            -32.255859375,
            0.94482421875,
            -10.467529296875,
            0.750732421875,
            -4.8651123046875,
            -2.32177734375,
            0.57952880859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.2486348283289317,
            0.8413375434903614,
            0.1306274426036147,
            -7.2752262986046645,
            1.0143789568834993,
            -2.4032874592760933,
            0.32597178734539156
          ],
          "torque": [
            28.4619140625,
            7.17041015625,
            13.330078125,
            -7.415771484375,
            5.1068115234375,
            1.3861083984375,
            -0.673828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.2,
            -8.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.2,
            -8.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.7,
            -1.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.7,
            -1.4,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -217,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -156,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32094208358483883,
          -0.5698462130854025,
          -0.07566501354021639,
          -0.9666613791712646,
          -0.02294566574874308,
          -0.7904239349156934,
          0.3506751666270101
        ],
        "act_joint_pos_r": [
          -0.5613282607313012,
          -1.0389491069043453,
          0.13961621938328309,
          -0.8204234602795009,
          0.10434336825927293,
          0.9559582728626244,
          -0.5222630652648577
        ],
        "act_eef_pose_l": [
          538.4662875079824,
          371.12709076978365,
          75.5068314478879,
          1.7146830568918459,
          -0.12639425856573938,
          0.7885080462005247
        ],
        "act_eef_pose_r": [
          516.9574644042035,
          -140.1099481268787,
          -24.855056653080283,
          1.5496256054823083,
          -0.0384305930653047,
          2.7514142511381112
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 244,
      "colors": {
        "rgb_main": "colors/000244_rgb_main.jpg",
        "rgb_wrist_0": "colors/000244_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000244_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000244_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3229912332717455,
          -0.5608826063000213,
          -0.07646235962275141,
          -0.9761104243630656,
          -0.023063434779234962,
          -0.7847195871321841,
          0.3495158779250733
        ],
        "joint_pos_r": [
          -0.544757963358562,
          -1.0450416848798736,
          0.13853696455910147,
          -0.7559235153569042,
          0.10021757303043635,
          0.9819224379913568,
          -0.527705163925903
        ],
        "eef_pose_l": [
          536.6004873725652,
          373.37284858955405,
          75.34379688715066,
          1.7165935314770728,
          -0.12526398814855128,
          0.7934786410607245
        ],
        "eef_pose_r": [
          529.0848818774621,
          -153.49389647474294,
          -23.567814662964793,
          1.5608223306332196,
          -0.011944253684621237,
          2.723863675429207
        ],
        "joint_status_l": {
          "velocity": [
            -0.2213016392427214,
            -0.9680409819781133,
            0.08611083721044022,
            1.0204667836566372,
            0.012718680175716202,
            -0.616051391154393,
            0.12519948724731833
          ],
          "torque": [
            -35.33203125,
            1.3916015625,
            -9.21630859375,
            0.42724609375,
            -3.966064453125,
            -2.3675537109375,
            0.5438232421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.7895393366140766,
            0.6579790153038445,
            0.1165560833735757,
            -6.965788606686729,
            0.4455727432487455,
            -2.804047132953791,
            0.587729321243291
          ],
          "torque": [
            25.166015625,
            5.07568359375,
            13.165283203125,
            -8.245849609375,
            4.822998046875,
            1.3787841796875,
            0.4742431640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.4,
            -8.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.4,
            -8.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -16.9,
            -1.0,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -16.9,
            -1.0,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -164,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -228,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31981630421845,
          -0.5674794381578488,
          -0.07593300854721002,
          -0.9719617462306406,
          -0.02216093774192977,
          -0.78668707066309,
          0.3509952501333282
        ],
        "act_joint_pos_r": [
          -0.5654232326239267,
          -1.0393871259188634,
          0.13967180827675935,
          -0.8279232425546763,
          0.09901180060953507,
          0.9468295486154148,
          -0.5168261017828615
        ],
        "act_eef_pose_l": [
          538.1398875079824,
          370.97989076978365,
          76.30363144788775,
          1.7144404247367402,
          -0.1283155889872598,
          0.7890710480525751
        ],
        "act_eef_pose_r": [
          515.3814644042035,
          -138.10194812687865,
          -27.52225665308015,
          1.5558533229541116,
          -0.045242042529904096,
          2.7526880369755786
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 245,
      "colors": {
        "rgb_main": "colors/000245_rgb_main.jpg",
        "rgb_wrist_0": "colors/000245_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000245_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000245_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32261476362063524,
          -0.5621057049843782,
          -0.07635689953750405,
          -0.9749841089225536,
          -0.022999957643130012,
          -0.7853683307181001,
          0.3497104522376354
        ],
        "joint_pos_r": [
          -0.5478675284926595,
          -1.0439836979018784,
          0.1387302266176306,
          -0.7676569395669386,
          0.10071295605503283,
          0.9769309419333491,
          -0.5265042352762846
        ],
        "eef_pose_l": [
          536.8656870397766,
          373.02438736109684,
          75.41399767147814,
          1.7162885919683157,
          -0.12554551349725895,
          0.7927568459250137
        ],
        "eef_pose_r": [
          526.9263801185778,
          -151.01090486385567,
          -23.96403088749753,
          1.5591728989813336,
          -0.01692826367207247,
          2.728776829944032
        ],
        "joint_status_l": {
          "velocity": [
            -0.30222470179497307,
            -0.5803460663420523,
            0.04577887677603698,
            0.32640554390983567,
            0.0906114768869648,
            -0.14241971361350636,
            0.13875408040187054
          ],
          "torque": [
            -38.5107421875,
            2.60009765625,
            -13.116455078125,
            -0.054931640625,
            -3.2684326171875,
            -2.13134765625,
            0.5474853515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.895960127821894,
            0.4964151331847688,
            0.10168782006392263,
            -6.508568762701117,
            -0.18371936960071,
            -3.2508545995062477,
            1.0452075905398317
          ],
          "torque": [
            27.04833984375,
            6.45263671875,
            13.714599609375,
            -7.4462890625,
            5.0555419921875,
            1.4044189453125,
            0.52459716796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.4,
            -8.8,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.4,
            -8.8,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.5,
            -1.2,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.5,
            -1.2,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -240,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -171,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3190707829548996,
          -0.5676128149333717,
          -0.07590879866354003,
          -0.9711648478751685,
          -0.019913961811735763,
          -0.7876248615807069,
          0.34963424321583003
        ],
        "act_joint_pos_r": [
          -0.56579441197379,
          -1.04281947627812,
          0.13943718448990863,
          -0.8238612137105851,
          0.09512827550040726,
          0.9461706729856149,
          -0.5115975767842119
        ],
        "act_eef_pose_l": [
          538.1558875079825,
          371.04949076978363,
          76.37963144788777,
          1.7154262259310733,
          -0.12894252357525718,
          0.788302366339957
        ],
        "act_eef_pose_r": [
          515.6438644042034,
          -137.20834812687866,
          -28.86145665308004,
          1.559471445943375,
          -0.04899921575665049,
          2.753133526371037
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 246,
      "colors": {
        "rgb_main": "colors/000246_rgb_main.jpg",
        "rgb_wrist_0": "colors/000246_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000246_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000246_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3222187748823005,
          -0.5627906625594756,
          -0.07630207323609597,
          -0.974556917995507,
          -0.02276365162616599,
          -0.7855890154185879,
          0.3497932768543249
        ],
        "joint_pos_r": [
          -0.5512077766748195,
          -1.0433142285027097,
          0.1388945865263078,
          -0.7788134618259144,
          0.1001657037885681,
          0.9712023753434772,
          -0.5243708807251837
        ],
        "eef_pose_l": [
          537.0276848587716,
          372.7710977064377,
          75.53002964955408,
          1.7161118928595098,
          -0.1259300442643706,
          0.7922474890266634
        ],
        "eef_pose_r": [
          524.8093977750931,
          -148.49559253898352,
          -24.763967658777716,
          1.5588189502001542,
          -0.02251498497776476,
          2.7333259406172394
        ],
        "joint_status_l": {
          "velocity": [
            -0.3399731011888285,
            -0.52077709688092,
            0.042472401179494135,
            0.3663327685901052,
            0.3077574231384883,
            -0.21986490093972577,
            -0.017175126404200824
          ],
          "torque": [
            -37.97607421875,
            0.234375,
            -12.09716796875,
            0.946044921875,
            -2.9644775390625,
            -2.325439453125,
            0.53009033203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.5753101509989875,
            0.05343166437299374,
            0.0585988517880498,
            -4.865013717634703,
            -0.5440262099261073,
            -2.7033441237769296,
            1.3794761401508815
          ],
          "torque": [
            26.98974609375,
            3.93310546875,
            13.76953125,
            -7.611083984375,
            2.6861572265625,
            1.6754150390625,
            0.56854248046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.4,
            -9.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.4,
            -9.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.4,
            -1.1,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.4,
            -1.1,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -270,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -129,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31857668418216584,
          -0.5691374265793036,
          -0.07566660873511669,
          -0.9642920620898495,
          -0.019726704393721633,
          -0.7922048207463311,
          0.34964068239253665
        ],
        "act_joint_pos_r": [
          -0.5662614236045914,
          -1.0426093704096058,
          0.13949252576326635,
          -0.8282522522953408,
          0.09287730138840679,
          0.9423355820353526,
          -0.5091182234824663
        ],
        "act_eef_pose_l": [
          538.6462875079824,
          372.1286907697837,
          76.32763144788787,
          1.715515894515304,
          -0.12943656548630839,
          0.7889744180012466
        ],
        "act_eef_pose_r": [
          515.0590644042035,
          -136.2403481268787,
          -29.147856653080225,
          1.5611697737661745,
          -0.050856441164108535,
          2.75441349033319
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 247,
      "colors": {
        "rgb_main": "colors/000247_rgb_main.jpg",
        "rgb_wrist_0": "colors/000247_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000247_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000247_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32158806229796616,
          -0.5638121553245476,
          -0.07621026744231221,
          -0.9734201510955144,
          -0.022211453000146056,
          -0.7863040888945811,
          0.34976367787573087
        ],
        "joint_pos_r": [
          -0.5538456700327085,
          -1.0432002742477995,
          0.13899749661015517,
          -0.7873316492952087,
          0.09899137249591711,
          0.9662932551804145,
          -0.5218000008441867
        ],
        "eef_pose_l": [
          537.2770229397037,
          372.52392974191935,
          75.6862967347385,
          1.715986393989274,
          -0.12653469357927985,
          0.7915500975527408
        ],
        "eef_pose_r": [
          523.1507546362978,
          -146.36146957476126,
          -25.5602511753699,
          1.5592013862359657,
          -0.02745608434076344,
          2.73700281006158
        ],
        "joint_status_l": {
          "velocity": [
            -0.32521924467765473,
            -0.5751123334816199,
            0.058713408717658844,
            0.9858045378621227,
            0.26834493508304247,
            -0.6372602450017695,
            -0.013283120420481964
          ],
          "torque": [
            -37.21435546875,
            0.5859375,
            -9.02099609375,
            0.8544921875,
            -2.369384765625,
            -2.244873046875,
            0.00274658203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.340861839156826,
            0.06381573238112281,
            0.05346157177121835,
            -4.419294783881256,
            -0.6603002050976636,
            -2.587352389786801,
            1.369591561122263
          ],
          "torque": [
            27.09228515625,
            5.625,
            9.72900390625,
            -7.708740234375,
            2.4169921875,
            1.42822265625,
            0.78094482421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.0,
            -8.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.0,
            -8.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.2,
            -1.8,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.2,
            -1.8,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -219,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -166,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3181286047688619,
          -0.5700114152316336,
          -0.07555827282294894,
          -0.9617791272214171,
          -0.01902874279394058,
          -0.7949241037267476,
          0.3492230239320656
        ],
        "act_joint_pos_r": [
          -0.5648504190672696,
          -1.0452116194041499,
          0.13931519441148152,
          -0.825232594380856,
          0.09324335047381148,
          0.9423884317339656,
          -0.5083479610603233
        ],
        "act_eef_pose_l": [
          538.7430875079824,
          372.1870907697837,
          76.38843144788784,
          1.7155173491054623,
          -0.12958765421652546,
          0.7878115000399948
        ],
        "act_eef_pose_r": [
          515.8422644042034,
          -135.62514812687868,
          -28.75905665308028,
          1.5606754683045647,
          -0.05089456353349734,
          2.7539769421788907
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 248,
      "colors": {
        "rgb_main": "colors/000248_rgb_main.jpg",
        "rgb_wrist_0": "colors/000248_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000248_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000248_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32094403837931945,
          -0.564958045924259,
          -0.07609164180208976,
          -0.9713688120391734,
          -0.02165186455201028,
          -0.7877241801533788,
          0.349703074485255
        ],
        "joint_pos_r": [
          -0.5561644633500441,
          -1.043409392771572,
          0.13907469149646826,
          -0.7951795891123535,
          0.09780806019402923,
          0.9614824084435433,
          -0.5191528273679716
        ],
        "eef_pose_l": [
          537.5616377758986,
          372.45008585794284,
          75.81998651070259,
          1.7158885868384315,
          -0.1271319855835801,
          0.7909325041163203
        ],
        "eef_pose_r": [
          521.6498657452312,
          -144.2359056375185,
          -26.259297454319352,
          1.5595743913823412,
          -0.032187125219297424,
          2.7404593099771413
        ],
        "joint_status_l": {
          "velocity": [
            -0.3040578622224288,
            -0.5457477892258922,
            0.05760215086270115,
            1.0356554152943787,
            0.2832887947151752,
            -0.7775688127571456,
            -0.05184393068979887
          ],
          "torque": [
            -38.3203125,
            -0.10986328125,
            -9.027099609375,
            0.811767578125,
            -2.16064453125,
            -2.3419189453125,
            -0.0604248046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.9380555509905797,
            -0.19463473587322255,
            0.025973548772428856,
            -3.2456288442919146,
            -0.4929741102893681,
            -2.0620886665803084,
            1.166891145611526
          ],
          "torque": [
            26.484375,
            2.1240234375,
            10.675048828125,
            -7.769775390625,
            2.398681640625,
            1.61865234375,
            0.81573486328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -15.8,
            -8.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -15.8,
            -8.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.7,
            -1.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.7,
            -1.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -259,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -171,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3171729918521931,
          -0.5715565327333237,
          -0.0753805427858408,
          -0.9579820225650183,
          -0.016874399309697193,
          -0.7994036654537022,
          0.3474578185115505
        ],
        "act_joint_pos_r": [
          -0.5602552504145178,
          -1.0498821580846711,
          0.13902278058229373,
          -0.8216806295670614,
          0.0984617009432882,
          0.939923683217488,
          -0.5117101727775979
        ],
        "act_eef_pose_l": [
          538.8678875079825,
          372.08629076978366,
          76.47563144788778,
          1.7159775156375474,
          -0.12950382788856238,
          0.7853058085338148
        ],
        "act_eef_pose_r": [
          518.1342644042035,
          -134.30754812687866,
          -26.33345665308002,
          1.5563148143689771,
          -0.04716476432170611,
          2.7508382744375206
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 249,
      "colors": {
        "rgb_main": "colors/000249_rgb_main.jpg",
        "rgb_wrist_0": "colors/000249_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000249_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000249_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3203773446854623,
          -0.5659629297749755,
          -0.07598452303610882,
          -0.9693994972579375,
          -0.021032742640466787,
          -0.7893201714040095,
          0.3494909231143199
        ],
        "joint_pos_r": [
          -0.5567907359450036,
          -1.0435393364630472,
          0.13909203217716978,
          -0.7973464633411178,
          0.09747893664162037,
          0.960105699336186,
          -0.5183737776144408
        ],
        "eef_pose_l": [
          537.7806959175734,
          372.3967721811051,
          75.92662332208482,
          1.7158514236423554,
          -0.12756189448790178,
          0.7902004646968913
        ],
        "eef_pose_r": [
          521.2383263366771,
          -143.61167556211873,
          -26.44630553874535,
          1.559663780211471,
          -0.033541444859283474,
          2.7414364958959214
        ],
        "joint_status_l": {
          "velocity": [
            -0.3460598995017605,
            -0.6040913027804962,
            0.06522794323360337,
            1.233050899943855,
            0.44908783458547097,
            -1.0889852394635469,
            -0.21956882126339394
          ],
          "torque": [
            -37.353515625,
            0.84228515625,
            -9.515380859375,
            0.81787109375,
            -2.0086669921875,
            -2.244873046875,
            -0.369873046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.8704201055356187,
            -0.18060123109009396,
            0.02410081049020185,
            -3.0116133295043923,
            -0.457429814952226,
            -1.9134084680736407,
            1.0827562536563917
          ],
          "torque": [
            26.68212890625,
            2.138671875,
            10.870361328125,
            -7.32421875,
            2.384033203125,
            1.614990234375,
            0.81939697265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.5,
            -7.8,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.5,
            -7.8,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.4,
            -0.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.4,
            -0.4,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -284,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -179,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3173173706225308,
          -0.5739037781598174,
          -0.07526238555711327,
          -0.9595490607570542,
          -0.017329546866090634,
          -0.7973605566521023,
          0.3486126479603414
        ],
        "act_joint_pos_r": [
          -0.5575740856053191,
          -1.056122590350793,
          0.13867349334100962,
          -0.8202116754314617,
          0.1075036735179551,
          0.9331152175163846,
          -0.5190077968590586
        ],
        "act_eef_pose_l": [
          539.2566875079824,
          370.4886907697837,
          76.29723144788777,
          1.7154898922022443,
          -0.1297464881029143,
          0.7835273264276197
        ],
        "act_eef_pose_r": [
          520.3614644042035,
          -131.90914812687868,
          -24.454256653080165,
          1.5506873306962696,
          -0.04413975921191628,
          2.7455871735211055
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 250,
      "colors": {
        "rgb_main": "colors/000250_rgb_main.jpg",
        "rgb_wrist_0": "colors/000250_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000250_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000250_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3198191779849297,
          -0.567088323730957,
          -0.07587086815902402,
          -0.967471851998472,
          -0.020323961107205357,
          -0.7909842933101205,
          0.3491985600195134
        ],
        "joint_pos_r": [
          -0.5574032912293343,
          -1.0446608006497555,
          0.13907978791299846,
          -0.8016489485068354,
          0.09765269763223992,
          0.956537349216492,
          -0.5171955962584605
        ],
        "eef_pose_l": [
          537.9967866252214,
          372.2495459872206,
          76.01320461063256,
          1.7158401968757937,
          -0.12792102736027317,
          0.7892322759791404
        ],
        "eef_pose_r": [
          520.7040245702146,
          -141.96142559607662,
          -26.4348214867085,
          1.5590741147913283,
          -0.03595120055437346,
          2.743092507689526
        ],
        "joint_status_l": {
          "velocity": [
            -0.27018722639304826,
            -0.7360473697604064,
            0.06571418287015796,
            0.8556362184322097,
            0.3233872002447735,
            -0.6886161312857908,
            -0.06327663614591472
          ],
          "torque": [
            -37.2509765625,
            -0.03662109375,
            -10.247802734375,
            1.226806640625,
            -2.039794921875,
            -2.2686767578125,
            -0.3717041015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.308002507951155,
            -0.5638899719242474,
            -0.006156610136698326,
            -2.163357749678241,
            0.08736978075918334,
            -1.7942230101137824,
            0.5924082637855932
          ],
          "torque": [
            27.63427734375,
            1.93359375,
            11.627197265625,
            -7.330322265625,
            4.00634765625,
            1.409912109375,
            0.72418212890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.4,
            -8.5,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.4,
            -8.5,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.4,
            -1.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.4,
            -1.8,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -215,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -185,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3165589838613119,
          -0.5776533354715835,
          -0.0748785619301332,
          -0.9523830870928894,
          -0.015251423110496053,
          -0.8046744271931193,
          0.34676131481314076
        ],
        "act_joint_pos_r": [
          -0.5569797814475415,
          -1.0659024932115735,
          0.13813651827879728,
          -0.818382641296543,
          0.1143470646002931,
          0.9241678315145363,
          -0.5248582262040031
        ],
        "act_eef_pose_l": [
          539.6718875079824,
          370.0166907697837,
          76.07243144788758,
          1.7158347687032796,
          -0.1289652475379849,
          0.7794565633818368
        ],
        "act_eef_pose_r": [
          521.9790644042034,
          -127.63714812687869,
          -24.135856653080054,
          1.5471976991845529,
          -0.0440278830547134,
          2.742159785853014
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 251,
      "colors": {
        "rgb_main": "colors/000251_rgb_main.jpg",
        "rgb_wrist_0": "colors/000251_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000251_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000251_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3193745941603302,
          -0.5683733838455219,
          -0.07575398397665017,
          -0.9658547468495033,
          -0.019740449535575553,
          -0.7923536501686035,
          0.34902095263176475
        ],
        "joint_pos_r": [
          -0.5574683647845274,
          -1.0467511916958634,
          0.13900725449300516,
          -0.805175955542521,
          0.09940432602204143,
          0.9521929563488963,
          -0.5174489291148362
        ],
        "eef_pose_l": [
          538.2234492812025,
          371.9400847762425,
          76.0497149139673,
          1.715793465874786,
          -0.12818743295796148,
          0.788116365074236
        ],
        "eef_pose_r": [
          520.6289679930895,
          -140.08709083274326,
          -26.08749516779244,
          1.5575352922780281,
          -0.03751053773422395,
          2.743613221658353
        ],
        "joint_status_l": {
          "velocity": [
            -0.30407694402434515,
            -1.0022052171514417,
            0.09454279263321208,
            1.4548963438407725,
            0.48480055548053014,
            -1.3306046745595879,
            -0.2440336870224158
          ],
          "torque": [
            -38.51806640625,
            0.3662109375,
            -9.844970703125,
            1.385498046875,
            -2.1258544921875,
            -2.2320556640625,
            0.0238037109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.011417511903921707,
            -1.012081204992299,
            -0.0360451413209395,
            -1.6238098562935122,
            0.8747037315510742,
            -2.0603350275782972,
            -0.16835275107673908
          ],
          "torque": [
            30.38818359375,
            0.791015625,
            11.75537109375,
            -7.049560546875,
            4.595947265625,
            1.3897705078125,
            -0.35797119140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.5,
            -16.7,
            -8.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -16.7,
            -8.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.2,
            -1.5,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.2,
            -1.5,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -253,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -227,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31610487008015403,
          -0.5789913214934094,
          -0.07472467879203634,
          -0.948880647890054,
          -0.015369817581721998,
          -0.8083412308205372,
          0.3476165913697834
        ],
        "act_joint_pos_r": [
          -0.5626673738572538,
          -1.0696752591238388,
          0.13806375285995018,
          -0.8321092700273086,
          0.1316905967035642,
          0.8996777504737213,
          -0.5353747593119086
        ],
        "act_eef_pose_l": [
          539.8486875079824,
          370.05749076978367,
          76.20683144788772,
          1.715221151780956,
          -0.12974750202851787,
          0.7779887165042734
        ],
        "act_eef_pose_r": [
          522.5342644042034,
          -123.77714812687867,
          -25.18545665308011,
          1.5429698010057327,
          -0.05189363046422774,
          2.7296073614599896
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 252,
      "colors": {
        "rgb_main": "colors/000252_rgb_main.jpg",
        "rgb_wrist_0": "colors/000252_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000252_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000252_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31887897856063085,
          -0.5699954357457774,
          -0.07559897343156713,
          -0.9633875368224024,
          -0.01901101097508776,
          -0.7946435114043108,
          0.34871114564784017
        ],
        "joint_pos_r": [
          -0.557780203805656,
          -1.0508742367875252,
          0.13882691677821984,
          -0.8088213238864442,
          0.10365957202894628,
          0.9447917719083482,
          -0.5196970813167394
        ],
        "eef_pose_l": [
          538.4767518786259,
          371.62786499201576,
          76.06292536219206,
          1.7157486534669588,
          -0.12837372058868687,
          0.7865882476062968
        ],
        "eef_pose_r": [
          520.9783909983885,
          -137.30055710536186,
          -25.767475454957946,
          1.5550423007916832,
          -0.03927686739726677,
          2.742380547831194
        ],
        "joint_status_l": {
          "velocity": [
            -0.29959487981301436,
            -0.971527007085804,
            0.09442103626966514,
            1.5666977974131413,
            0.39323728856963114,
            -1.4793100670340564,
            -0.11820837566078879
          ],
          "torque": [
            -38.13720703125,
            1.46484375,
            -9.38720703125,
            1.08642578125,
            -2.109375,
            -2.2357177734375,
            -0.41290283203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5277987989789068,
            -2.0304505273838203,
            -0.08241927234664548,
            -2.515024006545019,
            3.027261380556867,
            -4.872170617948868,
            -1.6931392870040973
          ],
          "torque": [
            26.71875,
            -1.26708984375,
            8.7890625,
            -8.367919921875,
            5.29541015625,
            1.5838623046875,
            -0.648193359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.7,
            -16.7,
            -7.6,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -16.7,
            -7.6,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.6,
            -2.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.6,
            -2.4,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -269,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -215,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3160653917318685,
          -0.5788341287242594,
          -0.07473890396055242,
          -0.9489864215803299,
          -0.01589253418677766,
          -0.807986795343447,
          0.3483928596930235
        ],
        "act_joint_pos_r": [
          -0.5651678123100382,
          -1.0705786622119784,
          0.13806583973814082,
          -0.8379581325897046,
          0.13844747972268356,
          0.8906887078875575,
          -0.5337300448795064
        ],
        "act_eef_pose_l": [
          539.8878875079824,
          370.16149076978365,
          76.30443144788778,
          1.714906008053467,
          -0.13027490359202107,
          0.7784429521352252
        ],
        "act_eef_pose_r": [
          522.5134644042034,
          -122.43154812687868,
          -25.651056653080104,
          1.5413271102512685,
          -0.061007510730950315,
          2.725336073717813
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 253,
      "colors": {
        "rgb_main": "colors/000253_rgb_main.jpg",
        "rgb_wrist_0": "colors/000253_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000253_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000253_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3183517227385379,
          -0.5716846578375744,
          -0.07543472498619358,
          -0.9606528233803656,
          -0.01836037919292027,
          -0.7972073328549273,
          0.348560204607683
        ],
        "joint_pos_r": [
          -0.5587895964986089,
          -1.0542509121559236,
          0.1386921042496055,
          -0.8132787046928888,
          0.10900833386887096,
          0.9362928823117214,
          -0.5223734525858617
        ],
        "eef_pose_l": [
          538.7412888337504,
          371.339478770531,
          76.0968328537177,
          1.7156198680284351,
          -0.1286727850865444,
          0.7849965678327923
        ],
        "eef_pose_r": [
          521.2938013461111,
          -134.82285178720326,
          -25.677510513614664,
          1.552646209136521,
          -0.04187651908688718,
          2.7398247770835074
        ],
        "joint_status_l": {
          "velocity": [
            -0.24691646630836672,
            -0.7721200832966346,
            0.07514645444306467,
            1.2599342346302222,
            0.26651940009386754,
            -1.1641476140606954,
            -0.01807271775700059
          ],
          "torque": [
            -37.2802734375,
            2.10205078125,
            -9.332275390625,
            0.74462890625,
            -2.0068359375,
            -2.3583984375,
            -0.02197265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.6888269917677547,
            -1.7633449989729044,
            -0.06763457246317106,
            -2.6652996040459342,
            3.179333982768262,
            -4.925105579585143,
            -1.2264757947431093
          ],
          "torque": [
            26.0595703125,
            -1.03271484375,
            8.50830078125,
            -8.599853515625,
            4.866943359375,
            1.1041259765625,
            -0.58502197265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.8,
            -16.6,
            -8.1,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.8,
            -16.6,
            -8.1,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.3,
            -1.2,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.3,
            -1.2,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -223,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -164,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31707482054495933,
          -0.5764864382789634,
          -0.07496948095054894,
          -0.9529549922123473,
          -0.019257420985354594,
          -0.8038469900333347,
          0.351463010154235
        ],
        "act_joint_pos_r": [
          -0.5700213664054905,
          -1.0717378008381166,
          0.1380613641798303,
          -0.8449340261243272,
          0.14100360485059715,
          0.8835026829118127,
          -0.53153166338686
        ],
        "act_eef_pose_l": [
          539.6334875079824,
          370.60709076978367,
          76.4388314478877,
          1.7136337361303875,
          -0.1309476473222824,
          0.7814562089074816
        ],
        "act_eef_pose_r": [
          521.0182644042035,
          -120.33714812687867,
          -27.503056653080193,
          1.541738319286936,
          -0.07029141815965656,
          2.725424064357237
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 254,
      "colors": {
        "rgb_main": "colors/000254_rgb_main.jpg",
        "rgb_wrist_0": "colors/000254_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000254_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000254_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3181829700527837,
          -0.5722593576217955,
          -0.07537891378612091,
          -0.9597230351462677,
          -0.018310447338043302,
          -0.7980389510801511,
          0.3487219653957225
        ],
        "joint_pos_r": [
          -0.5602405380617224,
          -1.0568446783461007,
          0.13859659521161888,
          -0.8177187792497913,
          0.11373129706365642,
          0.9286556332799057,
          -0.5238786650340561
        ],
        "eef_pose_l": [
          538.8411049993562,
          371.24847616958124,
          76.12504154758969,
          1.7154741252995005,
          -0.12887082041710488,
          0.7845197503863808
        ],
        "eef_pose_r": [
          521.3689712376554,
          -132.7246609793983,
          -25.843832559286426,
          1.5508067943441852,
          -0.045557016871003324,
          2.7375822890196733
        ],
        "joint_status_l": {
          "velocity": [
            -0.11967661717227074,
            -0.4565112468943866,
            0.044217442118132944,
            0.7309270793216527,
            -0.10227013761313075,
            -0.6272497072021821,
            0.2960241031546573
          ],
          "torque": [
            -37.0458984375,
            2.21923828125,
            -13.19580078125,
            -0.225830078125,
            -3.2025146484375,
            -2.3565673828125,
            0.087890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.0562983072732735,
            -1.608409791626464,
            -0.057803246617527115,
            -2.939159976560468,
            2.945322373349657,
            -4.876374818767459,
            -0.826499445804707
          ],
          "torque": [
            25.12939453125,
            -1.89697265625,
            9.47265625,
            -7.36083984375,
            4.9365234375,
            1.3531494140625,
            -0.640869140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.4,
            -8.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.4,
            -8.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.3,
            -1.9,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.3,
            -1.9,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -276,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -213,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3185281397065483,
          -0.5737983179433093,
          -0.07521508705591155,
          -0.9565666895802595,
          -0.0199585670074628,
          -0.8015376445736317,
          0.35164352002164007
        ],
        "act_joint_pos_r": [
          -0.5722011111579973,
          -1.0727090143543412,
          0.13803894117793322,
          -0.8488685937638492,
          0.13857947874390497,
          0.876251223941777,
          -0.5257896001631422
        ],
        "act_eef_pose_l": [
          538.9694875079824,
          371.0854907697837,
          76.04123144788768,
          1.7142879739066528,
          -0.13006078920903902,
          0.7828570361000557
        ],
        "act_eef_pose_r": [
          520.4566644042035,
          -119.0315481268787,
          -29.10625665307998,
          1.545888473110364,
          -0.07716635770564512,
          2.724563729809774
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 255,
      "colors": {
        "rgb_main": "colors/000255_rgb_main.jpg",
        "rgb_wrist_0": "colors/000255_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000255_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000255_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31807149196795037,
          -0.5728505349236157,
          -0.07532079473672916,
          -0.95873626321507,
          -0.018518623684838944,
          -0.7989316656264904,
          0.34921709454257566
        ],
        "joint_pos_r": [
          -0.5623354458346189,
          -1.0597696251953226,
          0.1384928864259046,
          -0.8233074577458859,
          0.11861322923303909,
          0.9193017763279336,
          -0.5246774148629184
        ],
        "eef_pose_l": [
          538.9429109836365,
          371.1630348237985,
          76.15707317146854,
          1.7151872196657476,
          -0.129185381661548,
          0.7840589391879085
        ],
        "eef_pose_r": [
          521.2829392334665,
          -130.22687432309337,
          -26.327515190240348,
          1.5493993434898243,
          -0.05087543529267765,
          2.7351358952980247
        ],
        "joint_status_l": {
          "velocity": [
            0.04931650125605813,
            -0.1023575472522964,
            0.011416092828619995,
            0.23430704204319142,
            -0.15550929234195432,
            -0.2814374257384955,
            0.2620462230984444
          ],
          "torque": [
            -34.2626953125,
            1.552734375,
            -11.8896484375,
            -0.15869140625,
            -3.93310546875,
            -2.38037109375,
            0.428466796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.0654604308486526,
            -1.397412814685417,
            -0.04902464087652714,
            -2.760521272716865,
            2.156291350759565,
            -4.6493225332673305,
            -0.12011246989596103
          ],
          "torque": [
            24.90234375,
            -1.10595703125,
            12.2314453125,
            -7.5439453125,
            4.78271484375,
            1.937255859375,
            -0.60882568359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.6,
            -8.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.6,
            -8.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.3,
            -1.4,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.3,
            -1.4,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -291,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -188,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31976640600360834,
          -0.5726886428770719,
          -0.07529866485134987,
          -0.9571529897999107,
          -0.02172207517906136,
          -0.8009857397353037,
          0.35223104730455435
        ],
        "act_joint_pos_r": [
          -0.5767270149220783,
          -1.073397410611689,
          0.13807054621655532,
          -0.8576094590304849,
          0.1491912925464005,
          0.8605244417831058,
          -0.5266374789930859
        ],
        "act_eef_pose_l": [
          538.7126875079824,
          371.57909076978365,
          75.7092314478878,
          1.714081871197966,
          -0.12886560638788633,
          0.7842830127772905
        ],
        "act_eef_pose_r": [
          520.6158644042034,
          -117.58834812687866,
          -30.47905665308008,
          1.5454220879258034,
          -0.08865394613390801,
          2.715370149144464
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 256,
      "colors": {
        "rgb_main": "colors/000256_rgb_main.jpg",
        "rgb_wrist_0": "colors/000256_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000256_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000256_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31825259772892706,
          -0.57296110949879,
          -0.07530556470892326,
          -0.9583422697420733,
          -0.01893532540288641,
          -0.7994158932325198,
          0.34974737185082766
        ],
        "joint_pos_r": [
          -0.5648896363481425,
          -1.0624582833912166,
          0.1384055881791997,
          -0.8295489344139442,
          0.12396544337519991,
          0.908663079013846,
          -0.525007908779612
        ],
        "eef_pose_l": [
          538.9297596151129,
          371.18296641236725,
          76.10965712767165,
          1.7149921068325225,
          -0.12927459725400947,
          0.7839195262919053
        ],
        "eef_pose_r": [
          521.1846231404502,
          -127.78346108341925,
          -27.041575795301696,
          1.5484320001550516,
          -0.05746272550819637,
          2.731795578320711
        ],
        "joint_status_l": {
          "velocity": [
            0.16348647189001753,
            0.02942552728590897,
            0.0007451626405918788,
            0.12843844566390317,
            -0.3009600994832162,
            -0.16953842203193403,
            0.26822903801004827
          ],
          "torque": [
            -28.505859375,
            5.478515625,
            -11.181640625,
            0.5859375,
            -4.1656494140625,
            -2.4591064453125,
            0.48614501953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.2783991816158746,
            -1.181390896548784,
            -0.036183464791395004,
            -3.0304472803210913,
            2.724311361220977,
            -5.19881948993639,
            -0.1759883925549488
          ],
          "torque": [
            24.638671875,
            -1.01806640625,
            11.41357421875,
            -7.75146484375,
            4.7222900390625,
            1.8585205078125,
            -0.5859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.5,
            -8.3,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.5,
            -8.3,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.3,
            -1.4,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.3,
            -1.4,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -213,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -183,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32029471223011,
          -0.5739015759687547,
          -0.07515466995271512,
          -0.9539327694131627,
          -0.02309805939339292,
          -0.804166202454234,
          0.35336231945474456
        ],
        "act_joint_pos_r": [
          -0.5844343926199295,
          -1.0691989236754078,
          0.13844698944172312,
          -0.8759263345895375,
          0.1574330786316329,
          0.8433136961626098,
          -0.5310330393514024
        ],
        "act_eef_pose_l": [
          538.8110875079824,
          371.66709076978367,
          75.49563144788776,
          1.7133164980052713,
          -0.1284704888748979,
          0.7834380358842655
        ],
        "act_eef_pose_r": [
          518.3750644042035,
          -116.2419481268787,
          -32.625456653080164,
          1.5463262276739256,
          -0.09783234395053626,
          2.709859270139676
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 257,
      "colors": {
        "rgb_main": "colors/000257_rgb_main.jpg",
        "rgb_wrist_0": "colors/000257_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000257_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000257_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31857685542612885,
          -0.5729970578012515,
          -0.07529387809602905,
          -0.9578852682150478,
          -0.019561335308470207,
          -0.7999419693531863,
          0.35029844530404314
        ],
        "joint_pos_r": [
          -0.5657431320414621,
          -1.0632470135913223,
          0.1383814310678585,
          -0.8315721473037677,
          0.12578427120886942,
          0.9051921990971391,
          -0.5251254036413735
        ],
        "eef_pose_l": [
          538.8958796530272,
          371.2640598961954,
          76.01825045903033,
          1.7147659192866416,
          -0.12916757234415374,
          0.7839264275773599
        ],
        "eef_pose_r": [
          521.1591354756259,
          -127.0448240973284,
          -27.282514576816624,
          1.5481438354922552,
          -0.05966159547142409,
          2.730592585847478
        ],
        "joint_status_l": {
          "velocity": [
            0.18552306311958588,
            -0.0976850810223695,
            0.015034036072725243,
            0.4268572811216842,
            -0.38195493601297925,
            -0.4562037199038471,
            0.3308886492363605
          ],
          "torque": [
            -24.99755859375,
            1.39892578125,
            -10.595703125,
            0.28076171875,
            -4.4805908203125,
            -2.4993896484375,
            0.51910400390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.1862243652887017,
            -1.0962105471969963,
            -0.03357457371166994,
            -2.811946732548698,
            2.5278837485074312,
            -4.823975514363532,
            -0.1632993217288714
          ],
          "torque": [
            25.8984375,
            -1.5087890625,
            11.04736328125,
            -7.806396484375,
            4.84130859375,
            1.6351318359375,
            -0.66009521484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.9,
            -8.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.9,
            -8.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.8,
            -1.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.8,
            -1.1,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -246,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -156,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32076031272222205,
          -0.57445837792431,
          -0.07511723517267413,
          -0.9538399900171897,
          -0.02419300134878891,
          -0.8041154651954321,
          0.35402375648015094
        ],
        "act_joint_pos_r": [
          -0.5874244494579258,
          -1.06718142660403,
          0.13862068943756664,
          -0.8835954142060193,
          0.15963270962075526,
          0.8326325751211865,
          -0.5321806252238946
        ],
        "act_eef_pose_l": [
          538.8758875079825,
          371.40949076978364,
          75.35323144788758,
          1.7128137038728966,
          -0.12797091058907387,
          0.7832932867087076
        ],
        "act_eef_pose_r": [
          517.9230644042035,
          -116.01314812687866,
          -33.98145665308016,
          1.5496264704986524,
          -0.10134923528600277,
          2.7047995992067717
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 258,
      "colors": {
        "rgb_main": "colors/000258_rgb_main.jpg",
        "rgb_wrist_0": "colors/000258_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000258_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000258_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3188797061168188,
          -0.5731702037808025,
          -0.07526934928380669,
          -0.9572314221956584,
          -0.020190831688871227,
          -0.8006341858620935,
          0.35083117353135096
        ],
        "joint_pos_r": [
          -0.5690479040488823,
          -1.0642993613318066,
          0.13839302233950593,
          -0.8394143405008804,
          0.1313800464322641,
          0.8942515595666665,
          -0.5261699233003114
        ],
        "eef_pose_l": [
          538.8848743777869,
          371.31885061020546,
          75.92571586485718,
          1.714507096355636,
          -0.1290294759667972,
          0.783838703413685
        ],
        "eef_pose_r": [
          520.7209896300585,
          -125.1205559350028,
          -28.20549974015654,
          1.5475647722034518,
          -0.06624188612784246,
          2.7268706352418683
        ],
        "joint_status_l": {
          "velocity": [
            0.20309952328290137,
            -0.13911870441241092,
            0.01642783948907489,
            0.36626387290006335,
            -0.4322215755771519,
            -0.375967079444095,
            0.34478878946853087
          ],
          "torque": [
            -24.169921875,
            0.8203125,
            -10.333251953125,
            0.628662109375,
            -4.5684814453125,
            -2.449951171875,
            0.5841064453125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.6616917566940614,
            -0.5291371270432776,
            0.005828275143615613,
            -3.9431790637252107,
            2.813644493523282,
            -5.5011270005698165,
            -0.5252010435410348
          ],
          "torque": [
            27.158203125,
            -1.58203125,
            10.894775390625,
            -8.331298828125,
            4.8065185546875,
            1.8988037109375,
            -0.77911376953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.5,
            -8.1,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.5,
            -8.1,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -18.1,
            -1.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -18.1,
            -1.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -261,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -118,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3207096856009224,
          -0.5773153243836887,
          -0.07488837827670623,
          -0.9515076617002427,
          -0.023243942060629155,
          -0.8054575676756454,
          0.35360728289144866
        ],
        "act_joint_pos_r": [
          -0.5930923079102417,
          -1.0662333433675906,
          0.1387287013593029,
          -0.891045556209561,
          0.1761898700084421,
          0.8132149812093593,
          -0.5440257523186035
        ],
        "act_eef_pose_l": [
          539.3254875079824,
          370.49189076978365,
          74.97723144788783,
          1.7132187455662613,
          -0.12769762110272295,
          0.7812641927251478
        ],
        "act_eef_pose_r": [
          519.1310644042035,
          -116.41714812687866,
          -36.08785665308028,
          1.5506411991305105,
          -0.10688765916371616,
          2.6874361673499316
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 259,
      "colors": {
        "rgb_main": "colors/000259_rgb_main.jpg",
        "rgb_wrist_0": "colors/000259_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000259_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000259_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3192071775379972,
          -0.5736821305580547,
          -0.07521969093256388,
          -0.9563998029657043,
          -0.020804050556342997,
          -0.8013831978106861,
          0.35135422440672726
        ],
        "joint_pos_r": [
          -0.5728145461290637,
          -1.0648137569293907,
          0.13844021229200687,
          -0.8481053451159146,
          0.1376560818251975,
          0.881605550447085,
          -0.5279804531752096
        ],
        "eef_pose_l": [
          538.9282430727413,
          371.24360866688545,
          75.78679117858641,
          1.714249710903148,
          -0.12881376333578629,
          0.7835393833251408
        ],
        "eef_pose_r": [
          520.3304738402182,
          -123.40787431534599,
          -29.36869798364046,
          1.5476362725755595,
          -0.07297404650240148,
          2.7216909195869037
        ],
        "joint_status_l": {
          "velocity": [
            0.16226608501312967,
            -0.39237336073494333,
            0.03578071153698126,
            0.528335674242264,
            -0.263500510930742,
            -0.4400189677493671,
            0.24332313991726195
          ],
          "torque": [
            -24.7998046875,
            0.90087890625,
            -10.028076171875,
            0.714111328125,
            -4.7039794921875,
            -2.347412109375,
            0.57586669921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.1899336837254424,
            -0.15331081366465327,
            0.031155900373724954,
            -4.637406025133295,
            4.161526386130432,
            -7.385963640321513,
            -1.7328412000674476
          ],
          "torque": [
            25.546875,
            -0.966796875,
            10.504150390625,
            -9.77783203125,
            5.3668212890625,
            1.3604736328125,
            -0.6646728515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.4,
            -16.6,
            -9.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -16.6,
            -9.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.9,
            -2.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.9,
            -2.1,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -248,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -112,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32126003118547425,
          -0.5759487848352666,
          -0.07504588492666488,
          -0.9549758070993234,
          -0.024549529571552157,
          -0.8020265815728193,
          0.3551436435553651
        ],
        "act_joint_pos_r": [
          -0.5969062983510578,
          -1.065884324565417,
          0.13878663153353654,
          -0.8963859867195112,
          0.1953882367722346,
          0.8003169860339334,
          -0.5579757810224141
        ],
        "act_eef_pose_l": [
          539.1542875079824,
          370.4582907697837,
          75.00043144788769,
          1.712902067045839,
          -0.12825106893537142,
          0.7827081574967915
        ],
        "act_eef_pose_r": [
          520.4174644042034,
          -116.78434812687868,
          -36.556656653080154,
          1.5467114706595488,
          -0.11055267963166142,
          2.673429259824135
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 260,
      "colors": {
        "rgb_main": "colors/000260_rgb_main.jpg",
        "rgb_wrist_0": "colors/000260_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000260_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000260_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31950144975932127,
          -0.574162044256625,
          -0.07517875227093017,
          -0.9558934224020789,
          -0.021317288844990515,
          -0.8017583320279555,
          0.3518565683686526
        ],
        "joint_pos_r": [
          -0.5766214550521901,
          -1.065044470338471,
          0.13849458589441085,
          -0.8560078667049371,
          0.14558479249833595,
          0.8687640231178553,
          -0.5316280301282454
        ],
        "eef_pose_l": [
          538.9790419716994,
          371.1171580719033,
          75.65559697090927,
          1.7140538201796094,
          -0.1286773295140883,
          0.7832885618466604
        ],
        "eef_pose_r": [
          520.2596083256242,
          -122.17082919828209,
          -30.521353704797008,
          1.547472912939617,
          -0.0789426137762806,
          2.7147438692494275
        ],
        "joint_status_l": {
          "velocity": [
            0.189921192598419,
            -0.19296229137477638,
            0.014349249972123168,
            0.0990995299137154,
            -0.34907170314910085,
            -0.028970096416891522,
            0.35499365018676343
          ],
          "torque": [
            -24.9169921875,
            1.5673828125,
            -9.637451171875,
            1.28173828125,
            -4.89990234375,
            -1.3568115234375,
            0.60150146484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.190698465079244,
            -0.09070158140911389,
            0.03153999880300962,
            -4.3607083493562016,
            5.37861334785994,
            -7.392061987848919,
            -2.845473173824775
          ],
          "torque": [
            25.224609375,
            -1.1572265625,
            11.187744140625,
            -8.502197265625,
            5.452880859375,
            1.4776611328125,
            -0.67657470703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.9,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.9,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.7,
            -1.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.7,
            -1.6,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -259,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -125,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32064384220307524,
          -0.5749682679749462,
          -0.07513666913403799,
          -0.9563541289339822,
          -0.023373607074823763,
          -0.8009587326897545,
          0.3545933615778411
        ],
        "act_joint_pos_r": [
          -0.5972047844865718,
          -1.068463502447593,
          0.1385965479657193,
          -0.891271838257424,
          0.20503794457217728,
          0.7996950919220315,
          -0.566555265474356
        ],
        "act_eef_pose_l": [
          539.0470875079825,
          370.6294907697837,
          75.26443144788782,
          1.713382827063797,
          -0.12908380807255482,
          0.7830675825885995
        ],
        "act_eef_pose_r": [
          522.0422644042035,
          -117.2387481268787,
          -36.45825665308007,
          1.543241128553152,
          -0.10913774643225853,
          2.6668131120519436
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 261,
      "colors": {
        "rgb_main": "colors/000261_rgb_main.jpg",
        "rgb_wrist_0": "colors/000261_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000261_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000261_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3197809649356612,
          -0.5744155919443278,
          -0.07516143249585625,
          -0.9558383374396061,
          -0.02182730707760156,
          -0.8017173280203017,
          0.35243068602054844
        ],
        "joint_pos_r": [
          -0.5804733875438742,
          -1.0653531094011663,
          0.13853874763368296,
          -0.8633436465017712,
          0.15556023257888393,
          0.8557888570237553,
          -0.5371072839960075
        ],
        "eef_pose_l": [
          539.0030347295072,
          371.0072601565754,
          75.5544173169317,
          1.7138774466856472,
          -0.12866829076206496,
          0.7832091392117054
        ],
        "eef_pose_r": [
          520.4471170034573,
          -121.1530366177124,
          -31.575016687136895,
          1.5465904894110696,
          -0.08455476769052642,
          2.7064674864682385
        ],
        "joint_status_l": {
          "velocity": [
            0.09318799644786324,
            -0.05968725092486693,
            0.0026743642002058365,
            -0.055703838495624325,
            -0.166995474431747,
            0.08192587942446039,
            0.23356207164226817
          ],
          "torque": [
            -24.931640625,
            1.5380859375,
            -9.442138671875,
            -1.531982421875,
            -4.8138427734375,
            -0.816650390625,
            0.56854248046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.806937577035761,
            -0.3359125418027631,
            0.006242251754495776,
            -3.0161557528511906,
            5.34343529907555,
            -6.0579479613620535,
            -3.1802882020750545
          ],
          "torque": [
            27.0263671875,
            -1.7431640625,
            12.14599609375,
            -7.373046875,
            5.006103515625,
            2.047119140625,
            -0.54840087890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.7,
            -7.3,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.7,
            -7.3,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -17.2,
            -2.0,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -17.2,
            -2.0,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -265,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -124,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3205230404366984,
          -0.5731937371176736,
          -0.07532475548125292,
          -0.9599821388319383,
          -0.023515638103996157,
          -0.7973876664306355,
          0.3547203103015994
        ],
        "act_joint_pos_r": [
          -0.5963392385169947,
          -1.0705965972488085,
          0.13845146360886854,
          -0.8884665905443282,
          0.21307890251172082,
          0.7973094092989247,
          -0.5753013320023487
        ],
        "act_eef_pose_l": [
          538.8734875079824,
          370.7718907697837,
          75.5172314478878,
          1.7134591620779807,
          -0.12956921605673585,
          0.7847341545141225
        ],
        "act_eef_pose_r": [
          523.6318644042035,
          -117.34434812687869,
          -35.788656653080125,
          1.5403154499788527,
          -0.10560326779339664,
          2.6609996144661685
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 262,
      "colors": {
        "rgb_main": "colors/000262_rgb_main.jpg",
        "rgb_wrist_0": "colors/000262_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000262_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000262_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31990918632185716,
          -0.5743062062342595,
          -0.07517858570910857,
          -0.9563325260356949,
          -0.02209753876801998,
          -0.8011896492868821,
          0.35280054504853625
        ],
        "joint_pos_r": [
          -0.5833692318060972,
          -1.0660568529057728,
          0.1385385063824986,
          -0.8680793223308557,
          0.16488807514506604,
          0.8456989958857368,
          -0.5429445413796409
        ],
        "eef_pose_l": [
          538.9908238709228,
          370.9612181546952,
          75.53529060080606,
          1.713804226415665,
          -0.12879174948850508,
          0.7833738758845326
        ],
        "eef_pose_r": [
          520.8867209456176,
          -120.44643090336366,
          -32.31872915880575,
          1.54536011131216,
          -0.08842086500375264,
          2.6989814699628516
        ],
        "joint_status_l": {
          "velocity": [
            0.06629428915694291,
            0.12014312115926629,
            -0.01578586981221264,
            -0.3941465572632197,
            -0.15315021136136364,
            0.41060203841603027,
            0.2073285325026042
          ],
          "torque": [
            -24.638671875,
            9.26513671875,
            -9.24072265625,
            -2.740478515625,
            -4.95849609375,
            -0.6280517578125,
            0.59967041015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.4007194127660938,
            -0.4902779290727466,
            -0.009400342303789166,
            -2.2017600296138085,
            5.204455858378143,
            -5.225921221068575,
            -3.4944303245389996
          ],
          "torque": [
            26.2353515625,
            -0.791015625,
            12.176513671875,
            -7.733154296875,
            4.7021484375,
            1.9976806640625,
            -1.03729248046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.8,
            -8.5,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.8,
            -8.5,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -17.7,
            -1.8,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -17.7,
            -1.8,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -314,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -87,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32021655473900695,
          -0.5731698507050839,
          -0.07531923513900339,
          -0.9596362441978916,
          -0.02247486826316538,
          -0.7982768148738557,
          0.35355138323731733
        ],
        "act_joint_pos_r": [
          -0.5958948027691192,
          -1.0713507745444362,
          0.13840695654571272,
          -0.8884301798694726,
          0.218220862076854,
          0.795203434924615,
          -0.5813096847867719
        ],
        "act_eef_pose_l": [
          538.7998875079825,
          370.7758907697837,
          75.55803144788779,
          1.713846986466178,
          -0.12924876864927862,
          0.7840808465454567
        ],
        "act_eef_pose_r": [
          524.3830644042034,
          -117.29954812687868,
          -35.22145665307994,
          1.5382645628913254,
          -0.10311252334267597,
          2.657801665361484
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 263,
      "colors": {
        "rgb_main": "colors/000263_rgb_main.jpg",
        "rgb_wrist_0": "colors/000263_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000263_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000263_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31996064553521153,
          -0.5741792840439871,
          -0.07519475913297821,
          -0.9567242587847358,
          -0.02219708218891166,
          -0.8008122910322564,
          0.3529492506791431
        ],
        "joint_pos_r": [
          -0.5854512890367783,
          -1.066888269199151,
          0.13851917465378977,
          -0.8714267854620166,
          0.1733906556520402,
          0.8375063294303948,
          -0.5489418463478256
        ],
        "eef_pose_l": [
          538.9733862018179,
          370.94009404562996,
          75.5356084004604,
          1.7137876092156672,
          -0.12886099408714943,
          0.7834894206158288
        ],
        "eef_pose_r": [
          521.4542023392091,
          -119.91258203710177,
          -32.764993544845424,
          1.54395753516999,
          -0.09077772204692812,
          2.6923368780814796
        ],
        "joint_status_l": {
          "velocity": [
            0.02763737888900053,
            0.10901558535891809,
            -0.013443012170322177,
            -0.31448514937704175,
            -0.03000001121636342,
            0.27382334911951745,
            0.06502839837274621
          ],
          "torque": [
            -27.421875,
            9.66796875,
            -9.41162109375,
            -3.16162109375,
            -4.07958984375,
            -0.6207275390625,
            0.5694580078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.127866218456397,
            -0.4819363633368212,
            -0.01211919823573826,
            -1.8363124368647732,
            4.841519500895064,
            -4.568577863623524,
            -3.4956234535030717
          ],
          "torque": [
            25.7373046875,
            -1.35498046875,
            12.347412109375,
            -8.746337890625,
            4.21875,
            1.7010498046875,
            -0.7855224609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.7,
            -8.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.7,
            -8.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.1,
            -1.6,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.1,
            -1.6,
            1.1,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -177,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -125,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32063427346508705,
          -0.5728468912773668,
          -0.0753389900416983,
          -0.9595837902071386,
          -0.022690583948101924,
          -0.7982677325488309,
          0.353362113292313
        ],
        "act_joint_pos_r": [
          -0.5962088865037222,
          -1.0763744207308932,
          0.13809385570661767,
          -0.8844551535653511,
          0.23619358726577033,
          0.793827249459092,
          -0.599848975755385
        ],
        "act_eef_pose_l": [
          538.7126875079824,
          370.9790907697837,
          75.38283144788765,
          1.7140534292207639,
          -0.12871028593437603,
          0.7845054151883061
        ],
        "act_eef_pose_r": [
          526.2782644042035,
          -116.47714812687866,
          -34.0238566530802,
          1.529151744011211,
          -0.09859168557619409,
          2.650175814949166
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 264,
      "colors": {
        "rgb_main": "colors/000264_rgb_main.jpg",
        "rgb_wrist_0": "colors/000264_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000264_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000264_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3200448979950042,
          -0.5739607260663807,
          -0.07521998638034813,
          -0.9572702269454826,
          -0.022268120983786194,
          -0.8003322119819577,
          0.35304682044743313
        ],
        "joint_pos_r": [
          -0.5875949726687927,
          -1.0684839191427107,
          0.13845308684698307,
          -0.8742933497090988,
          0.18490359269558831,
          0.8288085938736514,
          -0.5580275548256352
        ],
        "eef_pose_l": [
          538.9331666780996,
          370.9265291852029,
          75.52473056674162,
          1.7138164917863372,
          -0.12888801747555742,
          0.7836377092754421
        ],
        "eef_pose_r": [
          522.3363944705567,
          -119.24773009220658,
          -33.01970918675508,
          1.5411479843852527,
          -0.09239713611696793,
          2.6843200321884164
        ],
        "joint_status_l": {
          "velocity": [
            0.06365067349234366,
            0.12029060943152814,
            -0.012852016375797248,
            -0.24985746310601797,
            -0.045624654518849894,
            0.22295720300657962,
            0.03405062297723305
          ],
          "torque": [
            -23.994140625,
            10.400390625,
            -9.53369140625,
            -3.7109375,
            -4.1839599609375,
            -0.4595947265625,
            0.04119873046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.9302752571693773,
            -0.8521490387307651,
            -0.038795818937953364,
            -1.097442449140118,
            5.539156044904736,
            -3.777873774341245,
            -4.516580250998992
          ],
          "torque": [
            25.4736328125,
            -1.728515625,
            12.0361328125,
            -8.349609375,
            4.361572265625,
            1.9189453125,
            -0.8056640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.3,
            -7.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.3,
            -7.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.6,
            -1.8,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.6,
            -1.8,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -249,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -101,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3207549857322107,
          -0.5741790847896943,
          -0.07518376894787794,
          -0.9561854037094194,
          -0.021538847059880076,
          -0.8020101860406493,
          0.35193606930869925
        ],
        "act_joint_pos_r": [
          -0.598771118133036,
          -1.079331320651184,
          0.1379439343214054,
          -0.8866189107038663,
          0.25003872045265574,
          0.7881217299746157,
          -0.6150948658774122
        ],
        "act_eef_pose_l": [
          538.7398875079824,
          370.9622907697837,
          75.03883144788783,
          1.7146616153652325,
          -0.12764416609095233,
          0.7827151165366365
        ],
        "act_eef_pose_r": [
          526.7630644042035,
          -115.19474812687866,
          -34.104656653080156,
          1.524147565125962,
          -0.09688033118399861,
          2.6440775004406016
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 265,
      "colors": {
        "rgb_main": "colors/000265_rgb_main.jpg",
        "rgb_wrist_0": "colors/000265_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000265_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000265_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32016501537786934,
          -0.5738462234729403,
          -0.07523129077261255,
          -0.957462546577988,
          -0.022264939905072778,
          -0.8002117862607268,
          0.3530036022211634
        ],
        "joint_pos_r": [
          -0.5894071145028922,
          -1.0702126910940961,
          0.1383726542089329,
          -0.8763342065254963,
          0.19553441884780132,
          0.8219797711664076,
          -0.5671423229234029
        ],
        "eef_pose_l": [
          538.8935000555803,
          370.93526198851083,
          75.47304708365638,
          1.7139050789992365,
          -0.12877759182445808,
          0.7836726179618779
        ],
        "eef_pose_r": [
          523.1113227867343,
          -118.59021319219582,
          -33.14131631922413,
          1.5381074076730186,
          -0.09308786726849383,
          2.677606780967755
        ],
        "joint_status_l": {
          "velocity": [
            0.06371491909762383,
            -0.035947961980475895,
            0.005132205705082882,
            0.13792736185536114,
            0.07841571453295892,
            -0.19422144797509588,
            -0.11529015424516231
          ],
          "torque": [
            -24.404296875,
            6.10107421875,
            -9.442138671875,
            -0.9521484375,
            -3.310546875,
            -1.6094970703125,
            -0.30853271484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.0112825658694646,
            -0.9847829475440051,
            -0.04630038229624933,
            -1.1107152924676456,
            5.886290966452101,
            -3.656560604223813,
            -5.178721900795047
          ],
          "torque": [
            25.8984375,
            -1.31103515625,
            11.1083984375,
            -8.734130859375,
            4.2498779296875,
            2.069091796875,
            -0.77178955078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.4,
            -6.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.4,
            -6.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -17.0,
            -2.8,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -17.0,
            -2.8,
            1.0,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -221,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -74,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3209222812946285,
          -0.5748845420797798,
          -0.0751142845708044,
          -0.9549919558984612,
          -0.021777250008295827,
          -0.8033698352316629,
          0.3528141083786868
        ],
        "act_joint_pos_r": [
          -0.601177322045281,
          -1.0814925058818992,
          0.13783630993651277,
          -0.888503571402613,
          0.2566002162140304,
          0.7825494304442109,
          -0.6226532089414718
        ],
        "act_eef_pose_l": [
          538.7798875079825,
          370.8230907697837,
          74.92683144788775,
          1.7144785008444285,
          -0.12806321605898374,
          0.7818339314103487
        ],
        "act_eef_pose_r": [
          526.8174644042034,
          -114.0947481268787,
          -34.984656653080265,
          1.5235394018693125,
          -0.09726243452375977,
          2.640206817106112
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 266,
      "colors": {
        "rgb_main": "colors/000266_rgb_main.jpg",
        "rgb_wrist_0": "colors/000266_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000266_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000266_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3202909099733892,
          -0.5739697354089882,
          -0.07521633966029533,
          -0.9571186189307448,
          -0.02214815687638379,
          -0.800668525140142,
          0.35287721005691314
        ],
        "joint_pos_r": [
          -0.5900822755379675,
          -1.0708701602294572,
          0.13834174275540798,
          -0.8770757516799812,
          0.19946427429650535,
          0.8195385471943133,
          -0.5705997851173638
        ],
        "eef_pose_l": [
          538.8679749909094,
          370.9284076896366,
          75.38129767430499,
          1.7140324222908132,
          -0.12859947957503973,
          0.7834158622760653
        ],
        "eef_pose_r": [
          523.3829934195447,
          -118.33713271746922,
          -33.18699897271358,
          1.5369707312496854,
          -0.09328421243075817,
          2.6751951332078554
        ],
        "joint_status_l": {
          "velocity": [
            0.06818609165248901,
            -0.09879620660679933,
            0.011021624599649726,
            0.22967283364927482,
            0.0400567603425217,
            -0.29173288568173916,
            -0.006814780257435871
          ],
          "torque": [
            -24.08203125,
            2.40234375,
            -9.112548828125,
            -0.439453125,
            -4.2535400390625,
            -2.05810546875,
            0.16845703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.938367324602396,
            -0.9137783750929884,
            -0.04296204377451929,
            -1.0306307777492307,
            5.461879095351119,
            -3.392916191013562,
            -4.805326996541126
          ],
          "torque": [
            25.97900390625,
            -0.7763671875,
            10.711669921875,
            -8.526611328125,
            4.2938232421875,
            2.1661376953125,
            -0.8404541015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -16.7,
            -7.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.7,
            -7.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.5,
            -1.9,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.5,
            -1.9,
            1.1,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -187,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -74,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32127510414088495,
          -0.5748705680389269,
          -0.07511343984220312,
          -0.954906392298695,
          -0.02420753416504349,
          -0.8031321941442715,
          0.3560501465399742
        ],
        "act_joint_pos_r": [
          -0.6029463585531221,
          -1.080003860633984,
          0.13795932451419032,
          -0.8941509796834078,
          0.26124523201019967,
          0.7736593341772979,
          -0.6262372041922484
        ],
        "act_eef_pose_l": [
          538.8590875079824,
          370.9206907697837,
          75.0652314478878,
          1.7131161885097121,
          -0.12948006690530237,
          0.7825001836244616
        ],
        "act_eef_pose_r": [
          526.8846644042035,
          -114.16114812687869,
          -35.70625665308012,
          1.5256280270354816,
          -0.09932554734777982,
          2.634703943030297
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 267,
      "colors": {
        "rgb_main": "colors/000267_rgb_main.jpg",
        "rgb_wrist_0": "colors/000267_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000267_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000267_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32041520693390324,
          -0.5741193133307839,
          -0.07519951319253801,
          -0.9567640333639161,
          -0.022228404807452782,
          -0.80109879864858,
          0.35305488191783885
        ],
        "joint_pos_r": [
          -0.5920141046571417,
          -1.0727214532977107,
          0.13825371393295655,
          -0.8790728918540094,
          0.209484940857949,
          0.8130677297338055,
          -0.5797094458152225
        ],
        "eef_pose_l": [
          538.8581486891908,
          370.9167442581736,
          75.31454740949016,
          1.7140268573682147,
          -0.12859353309968277,
          0.7831942959248254
        ],
        "eef_pose_r": [
          524.0118679820835,
          -117.58248021074262,
          -33.43617208319998,
          1.5342818066347788,
          -0.09379971132690422,
          2.669066725672335
        ],
        "joint_status_l": {
          "velocity": [
            0.09286615941306309,
            -0.08113311558588521,
            0.009295647675711116,
            0.2006193180932314,
            -0.21373966670529265,
            -0.21960023677181084,
            0.3234790386863473
          ],
          "torque": [
            -24.0380859375,
            2.4755859375,
            -8.97216796875,
            -0.048828125,
            -4.9237060546875,
            -2.1624755859375,
            0.2728271484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.9895982912766499,
            -0.9472457415720115,
            -0.045078302102430357,
            -1.0184833526878379,
            5.088299667079799,
            -3.2958791165178525,
            -4.6377896333407165
          ],
          "torque": [
            26.19873046875,
            -0.9228515625,
            9.442138671875,
            -7.928466796875,
            4.248046875,
            1.8017578125,
            -0.875244140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.5,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.5,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.6,
            -1.6,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.6,
            -1.6,
            1.1,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -263,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -45,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3206099642253773,
          -0.5753475104107966,
          -0.07503496097793766,
          -0.9525550875098977,
          -0.02262233496233481,
          -0.8055679770882442,
          0.35533631422832157
        ],
        "act_joint_pos_r": [
          -0.6040980923725363,
          -1.079568305848833,
          0.13800001981034382,
          -0.8965486703461872,
          0.265842341460202,
          0.7690636376783216,
          -0.6275774031947485
        ],
        "act_eef_pose_l": [
          538.9174875079824,
          371.17189076978366,
          75.14363144788767,
          1.7136838986597733,
          -0.13018219075123616,
          0.7815754512934587
        ],
        "act_eef_pose_r": [
          527.1062644042034,
          -114.2643481268787,
          -36.053456653080275,
          1.5258183788914605,
          -0.1027541116628663,
          2.63087996913221
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 268,
      "colors": {
        "rgb_main": "colors/000268_rgb_main.jpg",
        "rgb_wrist_0": "colors/000268_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000268_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000268_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3205010857126428,
          -0.5742995806487201,
          -0.07517648878443034,
          -0.9562017137987213,
          -0.02242065935618303,
          -0.8017005957114836,
          0.35351346840852116
        ],
        "joint_pos_r": [
          -0.5942793340082999,
          -1.0741605195682038,
          0.13819688169896016,
          -0.8822441847410963,
          0.2201602490397021,
          0.8048762733665189,
          -0.5891433165293153
        ],
        "eef_pose_l": [
          538.8642228952656,
          370.9424138290396,
          75.2781352727036,
          1.713922648524192,
          -0.12881976676453236,
          0.7829792968953971
        ],
        "eef_pose_r": [
          524.6315893917086,
          -116.88363691278363,
          -33.84954532233215,
          1.5321967803723437,
          -0.09492150214859721,
          2.6619113624803004
        ],
        "joint_status_l": {
          "velocity": [
            0.011758532576067182,
            -0.11317307644276298,
            0.015284552307481825,
            0.39382402397514227,
            -0.021780323088083087,
            -0.4176648703229091,
            0.19686154241727039
          ],
          "torque": [
            -27.5537109375,
            2.138671875,
            -8.7890625,
            0.714111328125,
            -3.958740234375,
            -2.1990966796875,
            0.5548095703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.060394628670025,
            -0.5840236934497867,
            -0.021260456926963656,
            -1.544838882762356,
            4.933520475005393,
            -3.8676505840689046,
            -4.150758939775123
          ],
          "torque": [
            26.00830078125,
            -2.74658203125,
            8.685302734375,
            -9.283447265625,
            4.22607421875,
            1.8896484375,
            -0.70587158203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.4,
            -16.6,
            -8.7,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -16.6,
            -8.7,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -17.4,
            -1.7,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -17.4,
            -1.7,
            1.1,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -255,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -32,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3199878644797804,
          -0.5741605283792456,
          -0.07514024337600403,
          -0.954001287843792,
          -0.02172330224042165,
          -0.8048827459676411,
          0.355551530188706
        ],
        "act_joint_pos_r": [
          -0.6035301523868921,
          -1.0839487370871022,
          0.1376932585376216,
          -0.8878881940257821,
          0.2673833884570205,
          0.7716105138959356,
          -0.6256526590636816
        ],
        "act_eef_pose_l": [
          538.7350875079824,
          371.37909076978366,
          75.48443144788784,
          1.713909434564085,
          -0.13158264944162507,
          0.781694529125901
        ],
        "act_eef_pose_r": [
          528.4422644042035,
          -114.13794812687865,
          -36.54705665308006,
          1.5254829026193697,
          -0.10521505728967197,
          2.628611081583052
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 269,
      "colors": {
        "rgb_main": "colors/000269_rgb_main.jpg",
        "rgb_wrist_0": "colors/000269_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000269_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000269_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32046690677830925,
          -0.5743829184697776,
          -0.07516050774756342,
          -0.9556811677709681,
          -0.02237910310169043,
          -0.802325529588845,
          0.35385424688162026
        ],
        "joint_pos_r": [
          -0.5962127806507901,
          -1.075563776112869,
          0.13813517788072485,
          -0.8844961537521218,
          0.22945730328979724,
          0.7978585562719046,
          -0.5967330225242125
        ],
        "eef_pose_l": [
          538.8580894513492,
          371.0007857791554,
          75.28356195314342,
          1.7138997468683574,
          -0.1291808901879727,
          0.7827412795728528
        ],
        "eef_pose_r": [
          525.2480173321936,
          -116.3353193543827,
          -34.28010483657175,
          1.5306227246611164,
          -0.09654056888008275,
          2.655485595426396
        ],
        "joint_status_l": {
          "velocity": [
            -0.051735042397638153,
            0.024017421421440588,
            0.002188487582488463,
            0.1814216813889047,
            0.0708244041628947,
            -0.2761712236747371,
            0.18330119098530773
          ],
          "torque": [
            -27.89794921875,
            6.50390625,
            -8.642578125,
            1.300048828125,
            -3.175048828125,
            -2.3638916015625,
            0.5657958984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.7902528402370379,
            -0.9055490774745323,
            -0.04772588145551815,
            -0.3663295452431825,
            4.0958963960531225,
            -2.8347049714509964,
            -3.123228631557673
          ],
          "torque": [
            26.08154296875,
            -0.76171875,
            8.453369140625,
            -7.952880859375,
            4.3505859375,
            2.0196533203125,
            -0.5914306640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.6,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.6,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -17.4,
            -2.5,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -17.4,
            -2.5,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -270,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -24,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31892343528104045,
          -0.5720767566766288,
          -0.07539949480284812,
          -0.9601019842138644,
          -0.020120873162543598,
          -0.8016292857665078,
          0.3546141751971076
        ],
        "act_joint_pos_r": [
          -0.6027460723570849,
          -1.0860315385837174,
          0.13755216466955314,
          -0.8842510069559615,
          0.2653777227428118,
          0.7734060726378641,
          -0.6239000675234606
        ],
        "act_eef_pose_l": [
          538.2526875079824,
          370.69589076978366,
          76.17323144788774,
          1.713954513389379,
          -0.13249906387160693,
          0.7806811202776036
        ],
        "act_eef_pose_r": [
          528.8070644042035,
          -113.75714812687869,
          -36.63425665308023,
          1.5258685890427917,
          -0.10480871282105289,
          2.6295407668450768
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 270,
      "colors": {
        "rgb_main": "colors/000270_rgb_main.jpg",
        "rgb_wrist_0": "colors/000270_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000270_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000270_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3202680412625278,
          -0.574111219893983,
          -0.07518643104233935,
          -0.9560934231479595,
          -0.0220904698772353,
          -0.8023787944008282,
          0.3540274985580104
        ],
        "joint_pos_r": [
          -0.597450019949622,
          -1.077196481335123,
          0.13804686971105867,
          -0.8848336474418329,
          0.23601834198640959,
          0.7933471446378341,
          -0.6017198924768141
        ],
        "eef_pose_l": [
          538.7836238839922,
          370.98590673151443,
          75.3943339808645,
          1.713906201581195,
          -0.12967870367787457,
          0.7824547179401009
        ],
        "eef_pose_r": [
          525.8518779172592,
          -115.91217777289798,
          -34.65989763830271,
          1.52959439537224,
          -0.09797752522689908,
          2.6507910471587603
        ],
        "joint_status_l": {
          "velocity": [
            -0.1452131631674014,
            0.21971554731070597,
            -0.023010207485185674,
            -0.43291182706539644,
            0.21271017163554395,
            0.08094454517504346,
            0.06335920834255049
          ],
          "torque": [
            -32.3876953125,
            9.48486328125,
            -8.636474609375,
            -2.764892578125,
            -2.7960205078125,
            -0.76171875,
            0.55938720703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5719567910418277,
            -0.9541580414609285,
            -0.05342656875018115,
            0.06292331664958795,
            3.17071960631532,
            -2.1535722597780804,
            -2.395388256837272
          ],
          "torque": [
            26.93115234375,
            -0.49072265625,
            8.123779296875,
            -4.742431640625,
            4.03564453125,
            2.3638916015625,
            -0.758056640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.8,
            -8.3,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.8,
            -8.3,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.2,
            -1.8,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.2,
            -1.8,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -278,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -19,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3180757511924612,
          -0.5737974562434638,
          -0.07518778843681533,
          -0.9551811100620975,
          -0.018435312563492925,
          -0.8063305780139994,
          0.3536220847999118
        ],
        "act_joint_pos_r": [
          -0.6021545122131347,
          -1.088308030204478,
          0.13740105721090862,
          -0.8804702710257934,
          0.2641657527656447,
          0.7749303279709745,
          -0.6226099351889023
        ],
        "act_eef_pose_l": [
          538.5054875079824,
          370.8942907697837,
          76.20283144788782,
          1.7143531198553852,
          -0.13288811218551552,
          0.7788869121607873
        ],
        "act_eef_pose_r": [
          529.2318644042035,
          -113.3635481268787,
          -36.79105665307998,
          1.5261048147474723,
          -0.10473623092276546,
          2.6299640707107756
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 271,
      "colors": {
        "rgb_main": "colors/000271_rgb_main.jpg",
        "rgb_wrist_0": "colors/000271_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000271_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000271_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.32003747220353157,
          -0.5739788987943609,
          -0.07519801730402552,
          -0.9562437852640728,
          -0.02172072605168665,
          -0.8026233114275355,
          0.35402990110283705
        ],
        "joint_pos_r": [
          -0.5982539129494869,
          -1.0789058092846133,
          0.13794849111712576,
          -0.8843112351466357,
          0.2407081251458799,
          0.7902409266751462,
          -0.605220627638065
        ],
        "eef_pose_l": [
          538.735114633318,
          370.9635876492879,
          75.49479408282266,
          1.7139399899754728,
          -0.13006231544534597,
          0.7821017879814686
        ],
        "eef_pose_r": [
          526.3937243414816,
          -115.50994814620216,
          -34.9873112872522,
          1.5289275110793987,
          -0.09905803925373194,
          2.647340321878798
        ],
        "joint_status_l": {
          "velocity": [
            -0.21185962072989284,
            0.019595217566781287,
            0.0011046850777463035,
            0.11476553698486214,
            0.35481419203969855,
            -0.4003729829680225,
            -0.04404286174120031
          ],
          "torque": [
            -33.837890625,
            6.328125,
            -8.660888671875,
            0.341796875,
            -2.515869140625,
            -1.710205078125,
            0.09246826171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.4212522963014109,
            -1.0154099114298987,
            -0.059121118187399624,
            0.41481189082848147,
            2.5333490657979407,
            -1.6534958927962862,
            -1.8779898271414908
          ],
          "torque": [
            25.927734375,
            -1.48681640625,
            7.861328125,
            -3.9794921875,
            4.0850830078125,
            2.109375,
            -0.87432861328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.8,
            -6.1,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.8,
            -6.1,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.3,
            -2.7,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.3,
            -2.7,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -240,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -43,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3168852070704532,
          -0.5761868220803597,
          -0.07491462332519452,
          -0.9492658094126827,
          -0.016083559285021982,
          -0.8122319246099423,
          0.3522102996147394
        ],
        "act_joint_pos_r": [
          -0.6023663325021253,
          -1.08871620304627,
          0.13738063074232626,
          -0.8806559640338414,
          0.2648771156522436,
          0.7736218894872545,
          -0.6240838642867556
        ],
        "act_eef_pose_l": [
          538.8262875079824,
          370.9142907697837,
          76.27243144788785,
          1.7148511753628748,
          -0.13335088309516394,
          0.7761270174548354
        ],
        "act_eef_pose_r": [
          529.3294644042035,
          -113.19714812687869,
          -36.95345665308014,
          1.526436118113214,
          -0.10415729626755466,
          2.629085272400961
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 272,
      "colors": {
        "rgb_main": "colors/000272_rgb_main.jpg",
        "rgb_wrist_0": "colors/000272_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000272_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000272_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31960478312370355,
          -0.574119095680721,
          -0.07517651307212057,
          -0.9556293918345014,
          -0.020970271803037722,
          -0.8037042847352692,
          0.3538560035715591
        ],
        "joint_pos_r": [
          -0.5989674740910244,
          -1.0806142603634434,
          0.13784939521985254,
          -0.8836530745224407,
          0.24493590311350433,
          0.7873862362156365,
          -0.6084615257254692
        ],
        "eef_pose_l": [
          538.7181698027687,
          370.9525218735718,
          75.62554431927651,
          1.7140449034831196,
          -0.13059722830901183,
          0.7813345664485077
        ],
        "eef_pose_r": [
          526.9131499459464,
          -115.10923526135862,
          -35.313363596356396,
          1.5284042299764284,
          -0.09997164315984222,
          2.644164658482112
        ],
        "joint_status_l": {
          "velocity": [
            -0.2937055513685394,
            -0.22330786504731748,
            0.028283258497907582,
            0.6872466323004645,
            0.5277493868095506,
            -0.9209579442615023,
            -0.17773078544758292
          ],
          "torque": [
            -35.16357421875,
            4.013671875,
            -8.428955078125,
            0.482177734375,
            -2.266845703125,
            -2.530517578125,
            -0.263671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.36706588236956605,
            -0.8749840034711909,
            -0.050625070466270294,
            0.32367838638514,
            2.15358743751759,
            -1.4865056045261227,
            -1.6871628044112796
          ],
          "torque": [
            27.3193359375,
            -1.12060546875,
            12.7197265625,
            -4.034423828125,
            3.8690185546875,
            1.8804931640625,
            -0.8258056640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.8,
            -8.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.8,
            -8.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.1,
            -2.2,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.1,
            -2.2,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -276,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -9,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31543215600310065,
          -0.5772977119963666,
          -0.07483557447107644,
          -0.9488214093863335,
          -0.012319675156870971,
          -0.813276949175952,
          0.3494457411524791
        ],
        "act_joint_pos_r": [
          -0.6028149981865832,
          -1.0895506082336717,
          0.13733099204620888,
          -0.8799910186280456,
          0.2670928509027948,
          0.7722996137668738,
          -0.6263176459030463
        ],
        "act_eef_pose_l": [
          538.9550875079824,
          370.27989076978366,
          76.46203144788778,
          1.7162039304326546,
          -0.1337402101384203,
          0.7737435472781474
        ],
        "act_eef_pose_r": [
          529.6254644042035,
          -113.10754812687867,
          -37.211856653080076,
          1.526351461279146,
          -0.10412745383358991,
          2.6271965496341023
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 273,
      "colors": {
        "rgb_main": "colors/000273_rgb_main.jpg",
        "rgb_wrist_0": "colors/000273_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000273_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000273_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3189859148876337,
          -0.5745900697449894,
          -0.07512130663872314,
          -0.9543943967821561,
          -0.019775119315469616,
          -0.8053916729669504,
          0.35334557500348784
        ],
        "joint_pos_r": [
          -0.5997074720676175,
          -1.082348585323931,
          0.13774887858691243,
          -0.8829666057202267,
          0.24922499448665295,
          0.7844518095980335,
          -0.6118844344811446
        ],
        "eef_pose_l": [
          538.7488045705263,
          370.89901930999434,
          75.76251083521299,
          1.7142868294200186,
          -0.1311499644190255,
          0.7801784279832592
        ],
        "eef_pose_r": [
          527.4423424711634,
          -114.71131992570385,
          -35.665712199287924,
          1.5279427757188901,
          -0.10078796030180387,
          2.640890536588852
        ],
        "joint_status_l": {
          "velocity": [
            -0.38379464011173425,
            -0.2924167387776677,
            0.030858163992952825,
            0.6018648876926491,
            0.8051642220792965,
            -0.8515847144234812,
            -0.4211696341749338
          ],
          "torque": [
            -37.2802734375,
            1.9189453125,
            -7.965087890625,
            1.373291015625,
            -2.08740234375,
            -2.435302734375,
            -0.41656494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.3356029227692403,
            -0.7777955343986065,
            -0.04513041534559559,
            0.3213539281281541,
            1.9296715803220899,
            -1.3123984426428592,
            -1.5587408609611941
          ],
          "torque": [
            26.66748046875,
            -1.201171875,
            13.3056640625,
            -4.74853515625,
            4.05029296875,
            2.3382568359375,
            -0.68389892578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.7,
            -8.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.7,
            -8.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.2,
            -1.9,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.2,
            -1.9,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -217,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 19,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3138108489569059,
          -0.5797797531055388,
          -0.07457427872678205,
          -0.9436037702854095,
          -0.009003117893049252,
          -0.8180981732259784,
          0.3471853904287879
        ],
        "act_joint_pos_r": [
          -0.6039270536780074,
          -1.0900706284730228,
          0.1373046333038647,
          -0.880220064701944,
          0.27156996699251135,
          0.7691299413154303,
          -0.6313799528184274
        ],
        "act_eef_pose_l": [
          539.3702875079824,
          370.13589076978366,
          76.60843144788787,
          1.717186981624424,
          -0.13429102030454712,
          0.7710868320655713
        ],
        "act_eef_pose_r": [
          530.0190644042035,
          -113.18514812687869,
          -37.69745665308005,
          1.5263601998529106,
          -0.10362157058158454,
          2.6233127091832977
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 274,
      "colors": {
        "rgb_main": "colors/000274_rgb_main.jpg",
        "rgb_wrist_0": "colors/000274_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000274_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000274_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31821990888416735,
          -0.5752461454031148,
          -0.07505210882477527,
          -0.9530376996356493,
          -0.01817303949832007,
          -0.8071624428431802,
          0.35247701330837183
        ],
        "joint_pos_r": [
          -0.599931530134431,
          -1.0828678637687537,
          0.13771874823663602,
          -0.8827520606879449,
          0.25051329817693235,
          0.7835756150299967,
          -0.6129250942617224
        ],
        "eef_pose_l": [
          538.8130638194809,
          370.7728260163084,
          75.90465942302893,
          1.714694661804946,
          -0.13167773554667472,
          0.7788073445951028
        ],
        "eef_pose_r": [
          527.6015035571936,
          -114.59506166272725,
          -35.77427268167648,
          1.5278120300666964,
          -0.10102257974154803,
          2.639902071669583
        ],
        "joint_status_l": {
          "velocity": [
            -0.4761644284250188,
            -0.48961519143375654,
            0.051604128600835075,
            1.018834320913875,
            0.9903223253735494,
            -1.181024048899637,
            -0.5714784161403585
          ],
          "torque": [
            -36.48193359375,
            1.31103515625,
            -7.6904296875,
            1.84326171875,
            -1.776123046875,
            -2.801513671875,
            -0.4541015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.31140536522222817,
            -0.7217151163612101,
            -0.04187643348674275,
            0.2981837480096061,
            1.7905388852714754,
            -1.217772220146074,
            -1.4463529193635694
          ],
          "torque": [
            26.98974609375,
            -1.20849609375,
            13.37890625,
            -4.449462890625,
            4.097900390625,
            2.2613525390625,
            -0.65185546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.8,
            -8.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.8,
            -8.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.4,
            -1.8,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.4,
            -1.8,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -232,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -7,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31221951522850233,
          -0.5813246690207315,
          -0.0743947535480285,
          -0.9394532587683838,
          -0.005647448287304023,
          -0.82180332727998,
          0.3450434152845046
        ],
        "act_joint_pos_r": [
          -0.6053955877192304,
          -1.0896343257492844,
          0.13734239772117138,
          -0.8822441799349894,
          0.27420623711118974,
          0.7669766744675148,
          -0.6339256583968896
        ],
        "act_eef_pose_l": [
          539.6758875079825,
          370.2750907697837,
          76.80683144788786,
          1.718393373767019,
          -0.1351664187221485,
          0.7693298224787011
        ],
        "act_eef_pose_r": [
          529.7518644042035,
          -113.1323481268787,
          -38.1646566530801,
          1.5263429397280859,
          -0.10454778194632,
          2.621808115918549
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 275,
      "colors": {
        "rgb_main": "colors/000275_rgb_main.jpg",
        "rgb_wrist_0": "colors/000275_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000275_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000275_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3174252095682593,
          -0.5760592817331747,
          -0.07496567340283762,
          -0.9513045698258972,
          -0.016518210322685925,
          -0.8091229075024254,
          0.3515130478376903
        ],
        "joint_pos_r": [
          -0.6006732332724972,
          -1.0842230942126412,
          0.13764078749176514,
          -0.882270618633225,
          0.2544390401601005,
          0.7808836079509079,
          -0.616351841526568
        ],
        "eef_pose_l": [
          538.9196616708069,
          370.67342542725265,
          76.03074547660549,
          1.7151423317542382,
          -0.1321544128529527,
          0.7774605980229712
        ],
        "eef_pose_r": [
          528.0589481199451,
          -114.32537031538537,
          -36.12255225143164,
          1.5274871878342775,
          -0.10150161253252257,
          2.6368102646495
        ],
        "joint_status_l": {
          "velocity": [
            -0.5621984075379061,
            -0.5686450557664813,
            0.06165752582787398,
            1.279903845465391,
            1.1740076743157606,
            -1.3694449463566016,
            -0.6986997086979585
          ],
          "torque": [
            -38.25439453125,
            1.7724609375,
            -6.92138671875,
            0.93994140625,
            -1.7724609375,
            -2.36572265625,
            -0.50262451171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.3514022397395067,
            -0.6315150745788145,
            -0.03630358157646896,
            0.22145329316280993,
            1.8500855325440657,
            -1.2693585589023115,
            -1.6229881520430922
          ],
          "torque": [
            27.0556640625,
            -2.30712890625,
            13.75732421875,
            -4.119873046875,
            4.0374755859375,
            2.1295166015625,
            -0.74981689453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.4,
            -16.4,
            -8.3,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -16.4,
            -8.3,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.5,
            -1.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.5,
            -1.6,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -15,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31068703640348283,
          -0.5816595308769998,
          -0.07438969883568665,
          -0.9401900756159718,
          -0.004194504623522601,
          -0.8195368778410439,
          0.3444466722428289
        ],
        "act_joint_pos_r": [
          -0.6082615340700417,
          -1.0856503979143037,
          0.13762532012271855,
          -0.8914491556643088,
          0.27051371465039953,
          0.7674222998207755,
          -0.631451288967103
        ],
        "act_eef_pose_l": [
          540.1038875079823,
          370.1302907697837,
          77.34843144788765,
          1.7186273872413147,
          -0.1367385000692139,
          0.770185977996809
        ],
        "act_eef_pose_r": [
          527.1022644042034,
          -112.54914812687866,
          -38.59025665308013,
          1.5264297640198699,
          -0.10699460828443588,
          2.6282534237287063
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 276,
      "colors": {
        "rgb_main": "colors/000276_rgb_main.jpg",
        "rgb_wrist_0": "colors/000276_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000276_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000276_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31643779943699357,
          -0.5769536467451502,
          -0.074871382712988,
          -0.9494195517063301,
          -0.014606320427951331,
          -0.8110128534205625,
          0.35039821862983034
        ],
        "joint_pos_r": [
          -0.6016747247663613,
          -1.0849483402496096,
          0.13760447023175565,
          -0.8828008432117602,
          0.2577194750764379,
          0.778450640389232,
          -0.6193152550159178
        ],
        "eef_pose_l": [
          539.0823471527042,
          370.5945711061866,
          76.20642764294789,
          1.7156800944317465,
          -0.132794073820678,
          0.776196085210349
        ],
        "eef_pose_r": [
          528.2085941702841,
          -114.07891379329227,
          -36.50129544012208,
          1.527248069948264,
          -0.10216627217506331,
          2.63452964604097
        ],
        "joint_status_l": {
          "velocity": [
            -0.6210640903132614,
            -0.5082204970774384,
            0.052020324491142134,
            0.9967540200710445,
            1.124442943206433,
            -0.9205674867249769,
            -0.6427480529556107
          ],
          "torque": [
            -37.6904296875,
            1.07666015625,
            -13.6962890625,
            0.677490234375,
            -1.988525390625,
            -2.51953125,
            -0.5474853515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.7113544245198611,
            -0.07581999159533837,
            0.002251721813006924,
            -0.9339901983071996,
            1.3817371218296515,
            -1.1910256539691133,
            -1.3106530110835735
          ],
          "torque": [
            26.015625,
            -1.2158203125,
            13.446044921875,
            -7.379150390625,
            3.702392578125,
            2.1478271484375,
            -0.72052001953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -17.3,
            -8.5,
            1.5,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.3,
            -8.5,
            1.5,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.5,
            -2.4,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.5,
            -2.4,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -253,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 26,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3106257232375456,
          -0.5829537840835216,
          -0.07426276276766552,
          -0.9378085489145563,
          -0.005416745827737271,
          -0.8221262369225115,
          0.34522451043536706
        ],
        "act_joint_pos_r": [
          -0.6103966633851834,
          -1.0746378566720662,
          0.13836197406382836,
          -0.9080323986652887,
          0.2565532221474838,
          0.7768563227426574,
          -0.6175279329706755
        ],
        "act_eef_pose_l": [
          540.2630875079824,
          369.9366907697837,
          77.44763144788776,
          1.7174851050005517,
          -0.13644706240419013,
          0.7690766440148634
        ],
        "act_eef_pose_r": [
          521.7206644042035,
          -112.79874812687865,
          -37.5070566530801,
          1.5248014702635646,
          -0.11143770909968524,
          2.6468040697072985
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 277,
      "colors": {
        "rgb_main": "colors/000277_rgb_main.jpg",
        "rgb_wrist_0": "colors/000277_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000277_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000277_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31534627120428566,
          -0.5779365512550859,
          -0.07477117428733417,
          -0.9475031262655625,
          -0.012726226908508519,
          -0.8128109074162401,
          0.34932923917869063
        ],
        "joint_pos_r": [
          -0.6031232992391514,
          -1.0844495764711288,
          0.13765146961544936,
          -0.8855035299562597,
          0.25948095190074627,
          0.7767812255875077,
          -0.6209465351547522
        ],
        "eef_pose_l": [
          539.2883079035674,
          370.4922083304252,
          76.43043659495757,
          1.7161411324503595,
          -0.13352562943917037,
          0.7749786935842156
        ],
        "eef_pose_r": [
          527.6774909953172,
          -113.7843424970732,
          -36.85914449240357,
          1.5269739473039685,
          -0.10338753911625868,
          2.6343439426862303
        ],
        "joint_status_l": {
          "velocity": [
            -0.5098041445381618,
            -0.541845164602428,
            0.05490682473408004,
            1.0469834747821594,
            0.7894006745949311,
            -1.0060259155286744,
            -0.44329762991424104
          ],
          "torque": [
            -38.76708984375,
            1.6552734375,
            -10.577392578125,
            0.7080078125,
            -2.16796875,
            -2.5689697265625,
            -0.5438232421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.7855001606822398,
            1.059634486050065,
            0.07673221732917845,
            -2.4330460617170147,
            -0.31618548795986356,
            0.00811025355673678,
            0.3691981469637895
          ],
          "torque": [
            26.8505859375,
            4.10888671875,
            13.2080078125,
            -10.614013671875,
            2.003173828125,
            2.8564453125,
            -0.69854736328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.9,
            -7.7,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.9,
            -7.7,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -17.5,
            0.1,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -17.5,
            0.1,
            1.0,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -255,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 28,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31144626823879384,
          -0.5820519341705304,
          -0.07436966129747463,
          -0.9403225821122766,
          -0.0072849301804556845,
          -0.8192148594657869,
          0.3460585137612006
        ],
        "act_joint_pos_r": [
          -0.6114694764671618,
          -1.0725264842830857,
          0.13847786350710592,
          -0.9072433485906873,
          0.253594102887964,
          0.7811229213119113,
          -0.6146802731253561
        ],
        "act_eef_pose_l": [
          540.1878875079824,
          369.9294907697837,
          77.35083144788796,
          1.7168961160603715,
          -0.13575097686751023,
          0.7707599848602485
        ],
        "act_eef_pose_r": [
          521.0102644042036,
          -113.81634812687867,
          -38.04065665308008,
          1.5253935168640185,
          -0.11222055390258905,
          2.6488778937440065
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 278,
      "colors": {
        "rgb_main": "colors/000278_rgb_main.jpg",
        "rgb_wrist_0": "colors/000278_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000278_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000278_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3149127684767731,
          -0.5783959939612519,
          -0.07472529860845116,
          -0.9466492364021589,
          -0.012081213951141262,
          -0.813609629187308,
          0.348957579947561
        ],
        "joint_pos_r": [
          -0.6044866428663008,
          -1.082562548282606,
          0.13778544860662073,
          -0.8894299314538123,
          0.258749946994237,
          0.7771021326130436,
          -0.6201367762943727
        ],
        "eef_pose_l": [
          539.3945568431133,
          370.4290240939776,
          76.53983012642149,
          1.7162536720838575,
          -0.133817024619781,
          0.7744103442540771
        ],
        "eef_pose_r": [
          526.5776054826914,
          -113.68148240624721,
          -37.019544219641546,
          1.526642454001759,
          -0.10486879701500817,
          2.63669508112578
        ],
        "joint_status_l": {
          "velocity": [
            -0.37437098421966297,
            -0.39482989771588706,
            0.038407696810960346,
            0.6832585116756107,
            0.5179833701311615,
            -0.6053470163198682,
            -0.3130899140337817
          ],
          "torque": [
            -37.97607421875,
            0.65185546875,
            -14.66064453125,
            0.604248046875,
            -2.061767578125,
            -2.2137451171875,
            -0.5126953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.7541237872006334,
            1.0838629451201953,
            0.07477860377536061,
            -1.9237923115600353,
            -0.5568147411048052,
            0.43423237247885993,
            0.5892849622233243
          ],
          "torque": [
            27.24609375,
            5.56640625,
            13.92822265625,
            -8.856201171875,
            1.6717529296875,
            3.4405517578125,
            0.5419921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.7,
            -16.6,
            -8.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -16.6,
            -8.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.5,
            -1.4,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.5,
            -1.4,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -291,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 91,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3132682301365364,
          -0.5829422586717017,
          -0.0742513984746263,
          -0.9371621769501398,
          -0.007035562503785198,
          -0.8217111056330507,
          0.34443418473380644
        ],
        "act_joint_pos_r": [
          -0.6104519660638168,
          -1.0693133724072252,
          0.1385878686493209,
          -0.8970775892303283,
          0.249441509117295,
          0.7863103851081454,
          -0.6079704346537
        ],
        "act_eef_pose_l": [
          540.0774875079824,
          370.2582907697837,
          76.20363144788762,
          1.7183723467207,
          -0.13288824781440636,
          0.770511130714448
        ],
        "act_eef_pose_r": [
          522.7286644042035,
          -118.0707481268787,
          -39.17505665307999,
          1.5303983014249567,
          -0.11255813787988175,
          2.6429799460293495
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 279,
      "colors": {
        "rgb_main": "colors/000279_rgb_main.jpg",
        "rgb_wrist_0": "colors/000279_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000279_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000279_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3143633452117864,
          -0.5791388387851856,
          -0.0746511977427424,
          -0.9452696136897575,
          -0.011160047774642336,
          -0.8148142818752784,
          0.3483151595327621
        ],
        "joint_pos_r": [
          -0.6056621392405058,
          -1.0806013745534322,
          0.13791426575733617,
          -0.8919887632676383,
          0.2575970440789932,
          0.7781144842647876,
          -0.618782113388851
        ],
        "eef_pose_l": [
          539.5290184859222,
          370.3598260151933,
          76.6167254757853,
          1.7164491042532177,
          -0.13399471887580022,
          0.7737502160381791
        ],
        "eef_pose_r": [
          525.6972031588909,
          -113.95229194624967,
          -37.27044070557599,
          1.5267140022820551,
          -0.10618582927850002,
          2.63850502549141
        ],
        "joint_status_l": {
          "velocity": [
            -0.11826893997124444,
            -0.4107572331060183,
            0.043177047517661826,
            0.8755773441055936,
            0.4454312719594511,
            -0.7448349981054037,
            -0.41913291662254437
          ],
          "torque": [
            -37.24365234375,
            0.322265625,
            -14.788818359375,
            0.921630859375,
            -1.95556640625,
            -2.4188232421875,
            -0.57952880859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5172860403810375,
            1.2190682772938999,
            0.07274696677717074,
            -0.5495769950627505,
            -0.8807717988879027,
            0.885131185533794,
            1.1676268660831823
          ],
          "torque": [
            26.55029296875,
            6.02783203125,
            14.0380859375,
            -7.110595703125,
            1.23046875,
            4.2828369140625,
            0.596923828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.7,
            -8.6,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.7,
            -8.6,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -17.4,
            -2.6,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -17.4,
            -2.6,
            1.1,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -251,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 36,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3143185549469611,
          -0.5830348996056934,
          -0.07421685526028445,
          -0.9357160139751505,
          -0.009556176660542554,
          -0.8230283017103716,
          0.3461572128620246
        ],
        "act_joint_pos_r": [
          -0.6130467525818096,
          -1.0502322501926866,
          0.13983471762050884,
          -0.9142303016998573,
          0.251527949149287,
          0.7790990335004657,
          -0.6130732519132365
        ],
        "act_eef_pose_l": [
          540.0270875079824,
          370.5782907697837,
          75.97003144788782,
          1.717323787501639,
          -0.1322340180908504,
          0.7710626032858416
        ],
        "act_eef_pose_r": [
          521.3846644042035,
          -124.74434812687866,
          -39.07585665308011,
          1.5351633097938722,
          -0.10850548785056749,
          2.634263827737311
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 280,
      "colors": {
        "rgb_main": "colors/000280_rgb_main.jpg",
        "rgb_wrist_0": "colors/000280_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000280_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000280_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3142188652468029,
          -0.5799103255922212,
          -0.07456831384384666,
          -0.943535066256771,
          -0.010512420087805343,
          -0.8162960955574324,
          0.34765899058074784
        ],
        "joint_pos_r": [
          -0.6067760797045411,
          -1.0772227369795584,
          0.13812217070904817,
          -0.8940087856524715,
          0.2560783383200218,
          0.77934349944944,
          -0.6169045804042956
        ],
        "eef_pose_l": [
          539.636451181659,
          370.36263777611885,
          76.51698224419101,
          1.716757664128546,
          -0.13372727784389835,
          0.7731384744423397
        ],
        "eef_pose_r": [
          525.0311665029312,
          -115.17269747150863,
          -37.653500164534194,
          1.5277222521025717,
          -0.10722974422560308,
          2.638896288592109
        ],
        "joint_status_l": {
          "velocity": [
            0.010766170085663163,
            -0.33744404107416415,
            0.03795640756032448,
            0.8444327412027164,
            0.10327124432184254,
            -0.727056821122396,
            -0.16218721016603155
          ],
          "torque": [
            -34.8193359375,
            1.5234375,
            -15.032958984375,
            1.165771484375,
            -1.9573974609375,
            -2.2943115234375,
            -0.531005859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.6772126974237125,
            2.9148866029977683,
            0.18494961164050583,
            -2.183859323628745,
            -0.4914275365590637,
            -0.02640154381783333,
            0.4137712735028387
          ],
          "torque": [
            24.931640625,
            9.7998046875,
            14.459228515625,
            -10.9130859375,
            1.439208984375,
            3.4295654296875,
            0.61431884765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.6,
            -7.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.6,
            -7.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.2,
            -2.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.2,
            -2.1,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -219,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 61,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.315269622802792,
          -0.5797857068980543,
          -0.0745636341820488,
          -0.9429245132445783,
          -0.011323487607761168,
          -0.8154346681959515,
          0.3480585100430483
        ],
        "act_joint_pos_r": [
          -0.6159888941114491,
          -1.0355204148474237,
          0.14079398047663688,
          -0.9225785665539178,
          0.2554717501461359,
          0.7702607697985543,
          -0.6208173351561348
        ],
        "act_eef_pose_l": [
          539.6886875079824,
          370.7942907697837,
          76.00523144788762,
          1.7172602380958886,
          -0.133084489995551,
          0.7747589217874327
        ],
        "act_eef_pose_r": [
          521.6942644042035,
          -131.65234812687868,
          -40.469456653080215,
          1.5427796756076562,
          -0.10339666590442938,
          2.6194497141778554
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 281,
      "colors": {
        "rgb_main": "colors/000281_rgb_main.jpg",
        "rgb_wrist_0": "colors/000281_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000281_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000281_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3142917575727193,
          -0.5802739666556463,
          -0.07452632426023091,
          -0.9425714764230825,
          -0.010446046270313957,
          -0.8170451417902097,
          0.34750394762549736
        ],
        "joint_pos_r": [
          -0.6076128602567312,
          -1.0735311041311006,
          0.1383575375328726,
          -0.8966571844966253,
          0.2557380193756952,
          0.7789278530416867,
          -0.6168122606600723
        ],
        "eef_pose_l": [
          539.6862795279335,
          370.41342570811946,
          76.42226660276756,
          1.7168536072898088,
          -0.13351299788587478,
          0.772986265427073
        ],
        "eef_pose_r": [
          524.6487109424401,
          -116.5632072018468,
          -37.88686267180276,
          1.5288888764290485,
          -0.10716239920402199,
          2.6377158620584313
        ],
        "joint_status_l": {
          "velocity": [
            0.10560633015543885,
            0.052730498617314936,
            -0.0040293527169277255,
            -0.0381268522291478,
            -0.09476086962183217,
            0.17392601850652056,
            0.05989097470537885
          ],
          "torque": [
            -32.197265625,
            4.775390625,
            -14.923095703125,
            -0.335693359375,
            -3.56689453125,
            -0.71044921875,
            -0.5419921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.9045849770012993,
            4.105033371149425,
            0.2631280773787159,
            -2.799426697509766,
            -0.028756228672932593,
            -0.9360173839016994,
            -0.43253528862763346
          ],
          "torque": [
            25.64208984375,
            5.79345703125,
            14.288330078125,
            -9.033203125,
            1.4593505859375,
            3.46435546875,
            0.673828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.5,
            -16.6,
            -9.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -16.6,
            -9.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -17.5,
            -1.8,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -17.5,
            -1.8,
            1.1,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -213,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 150,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3152235418585733,
          -0.5790953439170484,
          -0.07461404130797712,
          -0.9432846092814734,
          -0.009981253335548607,
          -0.8166798550663574,
          0.34627723482544126
        ],
        "act_joint_pos_r": [
          -0.615145863019932,
          -1.0289910949524497,
          0.1411641797986486,
          -0.9188183435486204,
          0.264275056822056,
          0.7644981704500744,
          -0.6286415489701096
        ],
        "act_eef_pose_l": [
          539.3438875079825,
          370.85189076978367,
          75.95803144788788,
          1.7179354263643218,
          -0.13215402162596124,
          0.7737023822843839
        ],
        "act_eef_pose_r": [
          524.7086644042034,
          -137.44514812687868,
          -40.73345665308011,
          1.5464574126708803,
          -0.09887767064132218,
          2.60196497714122
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 282,
      "colors": {
        "rgb_main": "colors/000282_rgb_main.jpg",
        "rgb_wrist_0": "colors/000282_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000282_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000282_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3144479306056254,
          -0.5801250319346639,
          -0.07453747159237992,
          -0.9426653310554267,
          -0.010456787929967378,
          -0.8169042402066637,
          0.34741794019984623
        ],
        "joint_pos_r": [
          -0.6086435616758056,
          -1.0685483840388144,
          0.1386754993273723,
          -0.899812953659428,
          0.2559640706685056,
          0.7776656749250274,
          -0.6175477208528601
        ],
        "eef_pose_l": [
          539.6478435762034,
          370.48726452132337,
          76.34313535834977,
          1.717001623509917,
          -0.13333208274768987,
          0.7731803577451823
        ],
        "eef_pose_r": [
          524.3918345714662,
          -118.64284815123781,
          -38.23813675308594,
          1.530737438744706,
          -0.10658388764732721,
          2.634881385623878
        ],
        "joint_status_l": {
          "velocity": [
            0.08376354484429527,
            0.11120302614475719,
            -0.008269285394879589,
            -0.06688007589072953,
            0.051356221526438484,
            0.02423288044273164,
            -0.12319254706616434
          ],
          "torque": [
            -29.30419921875,
            9.4775390625,
            -15.289306640625,
            -1.7333984375,
            -2.7227783203125,
            -1.688232421875,
            -0.46051025390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.7022278340622634,
            4.272061223617563,
            0.268769563963267,
            -2.052521572144528,
            0.8975600324652167,
            -1.4220485422153928,
            -1.1980981006480818
          ],
          "torque": [
            26.38916015625,
            6.181640625,
            14.288330078125,
            -8.489990234375,
            2.17529296875,
            2.2686767578125,
            -0.41015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.2,
            -7.7,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.2,
            -7.7,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.2,
            -1.3,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.2,
            -1.3,
            1.0,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -290,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 97,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31475466134743607,
          -0.5771063604880116,
          -0.07477381367506887,
          -0.9450213300322634,
          -0.009475370117590498,
          -0.8146185393026728,
          0.34691405386318525
        ],
        "act_joint_pos_r": [
          -0.6118903012747953,
          -1.0248268254976989,
          0.1413919853489483,
          -0.9149854057058164,
          0.2666825552677139,
          0.7645731423622186,
          -0.6314698964901784
        ],
        "act_eef_pose_l": [
          539.1990875079824,
          371.6030907697837,
          76.28283144788774,
          1.7183573056281478,
          -0.13394371825469725,
          0.7756583703251768
        ],
        "act_eef_pose_r": [
          526.8574644042035,
          -141.15234812687868,
          -39.52945665308016,
          1.5472564070175112,
          -0.09315159870251406,
          2.594030520858297
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 283,
      "colors": {
        "rgb_main": "colors/000283_rgb_main.jpg",
        "rgb_wrist_0": "colors/000283_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000283_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000283_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31453215539502416,
          -0.5797185319309168,
          -0.07456903892680834,
          -0.9429708011248844,
          -0.010315624125279548,
          -0.8166319623369355,
          0.34728811435791823
        ],
        "joint_pos_r": [
          -0.6096040432243922,
          -1.0613123379671625,
          0.1391287566885949,
          -0.9029505351750299,
          0.25757342210840173,
          0.7753419060365547,
          -0.6196735575965755
        ],
        "eef_pose_l": [
          539.6119443823887,
          370.6538680516916,
          76.21874941438006,
          1.7176040641634662,
          -0.13374256691070166,
          0.7735553776975904
        ],
        "eef_pose_r": [
          524.6189744565693,
          -122.18255991698902,
          -38.63654712275246,
          1.5335582168176976,
          -0.10494446505294992,
          2.628567852788577
        ],
        "joint_status_l": {
          "velocity": [
            0.024029934135416653,
            0.28210619555668615,
            -0.02211502056448378,
            -0.22145059066058792,
            0.09074475645690083,
            0.21744327455408552,
            -0.04039734197558431
          ],
          "torque": [
            -29.765625,
            10.05615234375,
            -15.521240234375,
            -2.178955078125,
            -1.922607421875,
            -0.6060791015625,
            -0.01007080078125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.24690858726295062,
            3.9403191332016974,
            0.24442148649173046,
            -1.299727683905516,
            0.9837573668332045,
            -1.1629921762077444,
            -1.2739670268597791
          ],
          "torque": [
            27.82470703125,
            4.41650390625,
            14.697265625,
            -8.70361328125,
            3.489990234375,
            1.8804931640625,
            -0.6353759765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.5,
            -7.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.5,
            -7.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.2,
            -2.0,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.2,
            -2.0,
            1.1,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -272,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 51,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3142947421107751,
          -0.5772330061615119,
          -0.07474890777493502,
          -0.9441867063702358,
          -0.009709552886907214,
          -0.8148197681485132,
          0.3476088964107185
        ],
        "act_joint_pos_r": [
          -0.6104499888916175,
          -1.0226838197194952,
          0.14152649544281676,
          -0.9140406154255741,
          0.26905648516274416,
          0.7633697148527558,
          -0.6352490019379393
        ],
        "act_eef_pose_l": [
          539.3630875079824,
          371.8198907697837,
          76.51803144788782,
          1.7180008888787865,
          -0.13486868625282938,
          0.7761522505002774
        ],
        "act_eef_pose_r": [
          527.9366644042035,
          -142.90834812687868,
          -38.89665665308007,
          1.5474790449627518,
          -0.08909917018271667,
          2.589345665571897
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 284,
      "colors": {
        "rgb_main": "colors/000284_rgb_main.jpg",
        "rgb_wrist_0": "colors/000284_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000284_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000284_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3145162574586191,
          -0.57924069477652,
          -0.07460461026279573,
          -0.9432532464134258,
          -0.010186297076593694,
          -0.816276709932213,
          0.3473049683052399
        ],
        "joint_pos_r": [
          -0.6099599243068621,
          -1.053821167363729,
          0.1395935543813185,
          -0.9053024351547336,
          0.2595762883733997,
          0.7730897097453481,
          -0.6223180938005582
        ],
        "eef_pose_l": [
          539.5301831024485,
          370.8429566454657,
          76.33949557662154,
          1.7173765729025194,
          -0.13357040216136323,
          0.7739596113018915
        ],
        "eef_pose_r": [
          525.1934314341477,
          -126.11849989527138,
          -38.798517349254894,
          1.5363423831184406,
          -0.1023328956938904,
          2.621251939836105
        ],
        "joint_status_l": {
          "velocity": [
            -0.023922951997601416,
            0.21682397553934862,
            -0.015583671695185153,
            -0.1008107020821214,
            0.05148685396255681,
            0.15734507199471892,
            0.032823267321013816
          ],
          "torque": [
            -28.96728515625,
            9.9609375,
            -16.033935546875,
            -2.8076171875,
            -3.109130859375,
            -0.4486083984375,
            -0.04119873046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.05292541420232055,
            3.362734367028608,
            0.20875147784604753,
            -0.943695636435038,
            1.023831056966129,
            -1.0497284883133062,
            -1.3964968913624531
          ],
          "torque": [
            29.1357421875,
            6.84814453125,
            14.794921875,
            -7.977294921875,
            3.8763427734375,
            2.2247314453125,
            -0.79559326171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.7,
            -16.8,
            -8.3,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -16.8,
            -8.3,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -17.9,
            -1.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -17.9,
            -1.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 91,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3123853584039164,
          -0.5768495156602041,
          -0.07483543449419217,
          -0.9472311514525007,
          -0.007929415326940933,
          -0.813979613767173,
          0.3463666957611289
        ],
        "act_joint_pos_r": [
          -0.6092858330980327,
          -1.0182513771994677,
          0.1418020643840486,
          -0.9134062194532737,
          0.278484304340048,
          0.7599424887907601,
          -0.6469098890814475
        ],
        "act_eef_pose_l": [
          539.2678875079824,
          370.9942907697837,
          77.45003144788761,
          1.7174759688047108,
          -0.13592523057238304,
          0.7742051363731756
        ],
        "act_eef_pose_r": [
          529.8846644042035,
          -146.45474812687868,
          -37.97505665308017,
          1.5465125825236614,
          -0.08196588755333147,
          2.578121307531774
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 285,
      "colors": {
        "rgb_main": "colors/000285_rgb_main.jpg",
        "rgb_wrist_0": "colors/000285_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000285_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000285_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31440742604732674,
          -0.5789973036709669,
          -0.07462469231578796,
          -0.9434922526161683,
          -0.01005433971135214,
          -0.8160754159887252,
          0.347284723312657
        ],
        "joint_pos_r": [
          -0.609972839795953,
          -1.0484447643429062,
          0.13992733412919203,
          -0.9067020866254448,
          0.26168263706047795,
          0.7712926325456053,
          -0.6251214864401391
        ],
        "eef_pose_l": [
          539.5072673884858,
          370.9169652129343,
          76.40050868818619,
          1.7174242152541173,
          -0.13376305338087696,
          0.7741214196855378
        ],
        "eef_pose_r": [
          525.7917805184078,
          -129.07783460121382,
          -38.78056577961837,
          1.538130614195421,
          -0.09977700804446159,
          2.615328509651129
        ],
        "joint_status_l": {
          "velocity": [
            -0.21837686480719043,
            0.23195426403788133,
            -0.02275948401253558,
            -0.40378916519845376,
            0.22948506521620893,
            0.22633996438781168,
            -0.09914405146771443
          ],
          "torque": [
            -29.8388671875,
            9.49951171875,
            -16.3330078125,
            -2.94189453125,
            -3.028564453125,
            -0.5108642578125,
            -0.0640869140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.07419453512458318,
            3.2607896396417146,
            0.20246489614139662,
            -0.7240249914293173,
            1.8145265495934648,
            -1.2257793730929833,
            -2.3530780849325694
          ],
          "torque": [
            32.0068359375,
            7.5732421875,
            15.13671875,
            -8.7646484375,
            4.4384765625,
            2.3236083984375,
            -0.673828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.6,
            -8.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.6,
            -8.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.6,
            -2.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.6,
            -2.6,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -238,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 83,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31197823176960987,
          -0.5769373461011035,
          -0.07484732201701698,
          -0.9480795012464317,
          -0.0064742606552687385,
          -0.8128053720371516,
          0.344778074899662
        ],
        "act_joint_pos_r": [
          -0.6084417796185798,
          -1.013735598612648,
          0.1420920738733703,
          -0.91388800828957,
          0.2888438129122863,
          0.7558505602336895,
          -0.6569628863933882
        ],
        "act_eef_pose_l": [
          539.3406875079825,
          370.7862907697837,
          77.45323144788772,
          1.7182617879533788,
          -0.13560518178014033,
          0.7742017310282531
        ],
        "act_eef_pose_r": [
          531.6654644042035,
          -149.82834812687867,
          -37.03265665308004,
          1.5451830876874364,
          -0.07758847393358782,
          2.5669303851017427
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 286,
      "colors": {
        "rgb_main": "colors/000286_rgb_main.jpg",
        "rgb_wrist_0": "colors/000286_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000286_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000286_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3140073046446773,
          -0.5785951484555815,
          -0.07466505234512365,
          -0.9442362914849288,
          -0.009588758977443393,
          -0.8156276744214004,
          0.34704143075288574
        ],
        "joint_pos_r": [
          -0.6097656825150557,
          -1.0416894222882633,
          0.14034747214739124,
          -0.9081644839013587,
          0.2660075268101212,
          0.7685805598960529,
          -0.6304862121780984
        ],
        "eef_pose_l": [
          539.4654354726957,
          370.92246477164775,
          76.59895758348168,
          1.7174691281137229,
          -0.13415694872493536,
          0.7741365250820896
        ],
        "eef_pose_r": [
          526.8369397410397,
          -133.00770020240685,
          -38.562874608991535,
          1.5398314974767984,
          -0.09570457899479676,
          2.606566203722136
        ],
        "joint_status_l": {
          "velocity": [
            -0.2191334075130058,
            0.1790373738588258,
            -0.019684543999809456,
            -0.41505441286648903,
            0.33635589850791736,
            0.3047996679139686,
            -0.24443522291672792
          ],
          "torque": [
            -36.0791015625,
            9.26513671875,
            -16.607666015625,
            -3.411865234375,
            -1.915283203125,
            -0.2801513671875,
            -0.53375244140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.14297729592982478,
            3.018923918565619,
            0.1884114295076511,
            -0.6181224033801058,
            2.4662461609914477,
            -1.3747994159949428,
            -2.859396481859733
          ],
          "torque": [
            33.37646484375,
            5.63232421875,
            14.727783203125,
            -8.67919921875,
            4.0850830078125,
            2.186279296875,
            -0.86334228515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.7,
            -8.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.7,
            -8.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.7,
            -1.8,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.7,
            -1.8,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -219,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 61,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31206588656678613,
          -0.5766576827749778,
          -0.07488297898093015,
          -0.9489557999211198,
          -0.005002767016214957,
          -0.8107017327196271,
          0.34313647106031586
        ],
        "act_joint_pos_r": [
          -0.608346291313334,
          -1.0115826157265113,
          0.14221684339867022,
          -0.9123989565992215,
          0.29421102638847163,
          0.7539333098205123,
          -0.6619949573441747
        ],
        "act_eef_pose_l": [
          539.4158875079825,
          370.9086907697837,
          77.17643144788785,
          1.7196536730152052,
          -0.1351027196600769,
          0.7753488579813821
        ],
        "act_eef_pose_r": [
          532.7982644042035,
          -151.99394812687868,
          -36.982256653080185,
          1.545344672548737,
          -0.07554356935955577,
          2.5599001446176404
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 287,
      "colors": {
        "rgb_main": "colors/000287_rgb_main.jpg",
        "rgb_wrist_0": "colors/000287_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000287_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000287_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3136275832798246,
          -0.5782694832095073,
          -0.0747010736559062,
          -0.9450012761331743,
          -0.008935394684490066,
          -0.815001790479507,
          0.3465414949457514
        ],
        "joint_pos_r": [
          -0.609524720479153,
          -1.036591717424368,
          0.1406649285003236,
          -0.9090690879002362,
          0.27043215965372375,
          0.766191551827649,
          -0.6355303318826979
        ],
        "eef_pose_l": [
          539.445296876675,
          370.90199623255717,
          76.7480321685021,
          1.7176813499452912,
          -0.134407280382614,
          0.7741982441137706
        ],
        "eef_pose_r": [
          527.8090511471478,
          -136.1233579529652,
          -38.3032716733336,
          1.5407910733663333,
          -0.09237726463582022,
          2.599029588533754
        ],
        "joint_status_l": {
          "velocity": [
            -0.16865827069878492,
            0.17406931302943462,
            -0.01964519569852552,
            -0.42707597316571366,
            0.42471126198460885,
            0.464392541541514,
            -0.36773173395943104
          ],
          "torque": [
            -38.34228515625,
            9.48486328125,
            -16.9921875,
            -3.857421875,
            -1.8731689453125,
            -0.31494140625,
            -0.560302734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.1272665963805153,
            2.700903324482695,
            0.16760186586850523,
            -0.35961521320615475,
            2.568041867006432,
            -1.3238510918709423,
            -2.858095254826054
          ],
          "torque": [
            36.15234375,
            6.14501953125,
            14.886474609375,
            -8.70361328125,
            4.053955078125,
            2.1368408203125,
            -0.87615966796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.6,
            -8.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.6,
            -8.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -17.6,
            -1.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -17.6,
            -1.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -215,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 72,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31187465666514275,
          -0.5761797626698311,
          -0.07490361510410436,
          -0.9484873374802725,
          -0.002710795699770356,
          -0.8110269890423416,
          0.34069960362093843
        ],
        "act_joint_pos_r": [
          -0.6097748501965393,
          -1.004096299141797,
          0.14278566072349247,
          -0.9211705194138847,
          0.29675131937525245,
          0.7506608062367996,
          -0.6655191183735584
        ],
        "act_eef_pose_l": [
          539.3094875079825,
          371.2894907697837,
          76.97323144788793,
          1.721255441263619,
          -0.1344366501553992,
          0.7755219632448438
        ],
        "act_eef_pose_r": [
          531.8262644042035,
          -154.08914812687868,
          -36.633456653079975,
          1.5458625835330135,
          -0.07431936362131981,
          2.557318694352718
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 288,
      "colors": {
        "rgb_main": "colors/000288_rgb_main.jpg",
        "rgb_wrist_0": "colors/000288_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000288_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000288_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3133486214142169,
          -0.5779774037456877,
          -0.07473354260029065,
          -0.9456935100833451,
          -0.008206025369129585,
          -0.8142463358633114,
          0.3459032579545151
        ],
        "joint_pos_r": [
          -0.6093609131274711,
          -1.0331153313708865,
          0.14088065217460743,
          -0.9095319557491062,
          0.2737375370992219,
          0.764487596920805,
          -0.6392090427766912
        ],
        "eef_pose_l": [
          539.4385656390655,
          370.9086498146975,
          76.82036018735383,
          1.7180557315408558,
          -0.13451859012848294,
          0.7744028857216291
        ],
        "eef_pose_r": [
          528.5268690125382,
          -138.31875925385563,
          -38.12866037386078,
          1.5414236091372382,
          -0.0900523886706284,
          2.593576824220268
        ],
        "joint_status_l": {
          "velocity": [
            -0.15918349803367704,
            0.19413951035396337,
            -0.018367288697640483,
            -0.3017244599803348,
            0.5934673009083888,
            0.34767920241574046,
            -0.5619780933683316
          ],
          "torque": [
            -38.86962890625,
            10.2685546875,
            -17.364501953125,
            -4.13818359375,
            -1.8768310546875,
            -0.201416015625,
            -0.5950927734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.10957592415739015,
            2.325464703677227,
            0.1443043961679713,
            -0.3096269598525936,
            2.211071631166961,
            -1.139829389360969,
            -2.4608061956890026
          ],
          "torque": [
            37.69775390625,
            6.181640625,
            14.776611328125,
            -9.039306640625,
            3.8818359375,
            2.2943115234375,
            -0.90087890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.5,
            -8.1,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.5,
            -8.1,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.4,
            -2.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.4,
            -2.0,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -225,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 76,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.312394124622615,
          -0.5743762087193607,
          -0.07506113904489976,
          -0.9505910760555067,
          -0.0026488561982570017,
          -0.8098731681034296,
          0.3407729493604587
        ],
        "act_joint_pos_r": [
          -0.6115468057912836,
          -0.9953096281538201,
          0.14349188887170308,
          -0.9339026468559494,
          0.2961898712678508,
          0.7476065018822465,
          -0.6660023009196091
        ],
        "act_eef_pose_l": [
          538.8966875079824,
          371.66869076978367,
          76.8764314478879,
          1.7217224441420613,
          -0.13446517138475617,
          0.7762557660174814
        ],
        "act_eef_pose_r": [
          529.7910644042034,
          -155.52994812687868,
          -36.10865665308006,
          1.5465702922637112,
          -0.07439181370487262,
          2.5585953576832314
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 289,
      "colors": {
        "rgb_main": "colors/000289_rgb_main.jpg",
        "rgb_wrist_0": "colors/000289_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000289_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000289_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31314663028592393,
          -0.5774560475709614,
          -0.07478138829498099,
          -0.9464248740551331,
          -0.007227433137047775,
          -0.8135469278680157,
          0.3449914846616201
        ],
        "joint_pos_r": [
          -0.6096103486038585,
          -1.0271105544983088,
          0.14128771882742533,
          -0.9128561552885847,
          0.277750722732273,
          0.7617391070841599,
          -0.6439089451805687
        ],
        "eef_pose_l": [
          539.369206486492,
          371.01853785051196,
          76.83600143807053,
          1.71867639066334,
          -0.13450506180716273,
          0.7746812633385189
        ],
        "eef_pose_r": [
          528.9424122291324,
          -141.25048047335878,
          -37.824635495630616,
          1.5422580730058368,
          -0.08729251868940544,
          2.587267512076562
        ],
        "joint_status_l": {
          "velocity": [
            -0.08126821475951118,
            0.3326127860834305,
            -0.03021218993026764,
            -0.44993654587077714,
            0.4944717257254136,
            0.39675435293062833,
            -0.4555883756647283
          ],
          "torque": [
            -38.63525390625,
            9.931640625,
            -17.755126953125,
            -4.67529296875,
            -1.732177734375,
            -0.0421142578125,
            -0.648193359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.20913120824683773,
            3.4343987530283115,
            0.23804334406873906,
            -2.272954052078724,
            1.9913693095439111,
            -1.5262763466923346,
            -2.386012048152253
          ],
          "torque": [
            29.677734375,
            8.00537109375,
            15.289306640625,
            -8.45947265625,
            3.885498046875,
            2.2906494140625,
            -0.87615966796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.5,
            -16.4,
            -7.3,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -16.4,
            -7.3,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -17.7,
            -1.7,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -17.7,
            -1.7,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -198,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 137,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31308198516835845,
          -0.5710089190161092,
          -0.07535331535059864,
          -0.9542859505059086,
          -0.0018107910404749994,
          -0.8095895391433985,
          0.3395444898551973
        ],
        "act_joint_pos_r": [
          -0.6149824090156014,
          -0.9749406893828466,
          0.14515787963435473,
          -0.9598451075497814,
          0.27827276838319825,
          0.7613458911110871,
          -0.6500618578215648
        ],
        "act_eef_pose_l": [
          537.9150875079824,
          372.18389076978366,
          76.81083144788776,
          1.7225549379455294,
          -0.1336056483189058,
          0.7760694494566446
        ],
        "act_eef_pose_r": [
          521.9510644042035,
          -157.40834812687868,
          -33.923856653080065,
          1.5440382415986231,
          -0.07765665407266421,
          2.5820013499137557
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 290,
      "colors": {
        "rgb_main": "colors/000290_rgb_main.jpg",
        "rgb_wrist_0": "colors/000290_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000290_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000290_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3131002663251344,
          -0.5764871545409911,
          -0.0748676711390344,
          -0.9476271280150267,
          -0.006312287832396945,
          -0.8128616328479593,
          0.3440907995795284
        ],
        "joint_pos_r": [
          -0.6103404136819859,
          -1.0191893948118322,
          0.14186542972295338,
          -0.9195047724436792,
          0.27898910273586885,
          0.7607907351430753,
          -0.6460164716096567
        ],
        "eef_pose_l": [
          539.1623010851465,
          371.1987018888977,
          76.83432407012944,
          1.7193216789276669,
          -0.13438723944786038,
          0.7749340914954325
        ],
        "eef_pose_r": [
          528.247498771513,
          -144.01241468136945,
          -37.29955657245711,
          1.5427133290059083,
          -0.08540041532001941,
          2.5848177553031992
        ],
        "joint_status_l": {
          "velocity": [
            -0.0019743067030120187,
            0.5916319874348375,
            -0.05244802797699233,
            -0.7191316193608799,
            0.4861473153789375,
            0.35337569783422396,
            -0.490986969341467
          ],
          "torque": [
            -36.0205078125,
            10.8984375,
            -12.939453125,
            -4.65087890625,
            -1.593017578125,
            -0.35888671875,
            -0.71868896484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5013207103665707,
            4.778719245540408,
            0.3555741033336446,
            -4.3566276995932185,
            -0.07736182842332795,
            0.059955076264550655,
            -0.436888825538162
          ],
          "torque": [
            26.53564453125,
            6.73828125,
            15.533447265625,
            -7.379150390625,
            2.2943115234375,
            3.636474609375,
            -0.615234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.3,
            -8.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.3,
            -8.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -18.3,
            -1.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -18.3,
            -1.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -200,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 122,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31385843707518757,
          -0.5661304508570044,
          -0.07571996089438336,
          -0.9566093070389196,
          -0.0040262472220606105,
          -0.8123376436009765,
          0.34217870802792094
        ],
        "act_joint_pos_r": [
          -0.6216464542329176,
          -0.945281906446784,
          0.1476351195496241,
          -0.9883344973271502,
          0.25477074720389004,
          0.7789724884665635,
          -0.6264850545689687
        ],
        "act_eef_pose_l": [
          536.5846875079824,
          373.62869076978365,
          77.29083144788778,
          1.7212177772594892,
          -0.13464668507165212,
          0.7761983014256753
        ],
        "act_eef_pose_r": [
          512.2670644042034,
          -163.24434812687866,
          -33.127856653080244,
          1.5466597867010652,
          -0.08472825218188781,
          2.6049960895327047
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 291,
      "colors": {
        "rgb_main": "colors/000291_rgb_main.jpg",
        "rgb_wrist_0": "colors/000291_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000291_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000291_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31318487801355305,
          -0.5750360580489325,
          -0.07498888210084087,
          -0.9489839814886347,
          -0.005822261083827247,
          -0.8126338197687006,
          0.34364066007924104
        ],
        "joint_pos_r": [
          -0.6118239980912755,
          -1.0084158348337442,
          0.14269396171746454,
          -0.9294709857633674,
          0.27652481549689695,
          0.7626421244663425,
          -0.6443866583841286
        ],
        "eef_pose_l": [
          538.8080869722279,
          371.5251594220649,
          76.88399459191487,
          1.7197023426670508,
          -0.13437481418787095,
          0.775134912392335
        ],
        "eef_pose_r": [
          526.2393177437123,
          -147.01550144772713,
          -36.667765952329205,
          1.5431395430229777,
          -0.08475313540933078,
          2.5865714521751277
        ],
        "joint_status_l": {
          "velocity": [
            0.07274223323872064,
            0.9617772106258471,
            -0.07895418107339847,
            -0.8235108712755235,
            0.19396377641500012,
            0.03198608273535797,
            -0.15788616493939145
          ],
          "torque": [
            -32.40966796875,
            12.158203125,
            -17.6025390625,
            -3.546142578125,
            -1.6021728515625,
            -0.8349609375,
            -0.65093994140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.0607939768512153,
            6.818263171869177,
            0.5336293073181508,
            -6.3570717570788915,
            -2.3493700846781707,
            1.763627296616832,
            1.9333161919243835
          ],
          "torque": [
            25.40771484375,
            9.9755859375,
            15.826416015625,
            -8.355712890625,
            1.4813232421875,
            4.4842529296875,
            0.545654296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.3,
            -6.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.3,
            -6.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.0,
            -1.2,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.0,
            -1.2,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -265,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 57,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3169379917813892,
          -0.5651864317418679,
          -0.07548499562667031,
          -0.9424881614297369,
          -0.03304973410293418,
          -0.8366682368746052,
          0.36820364869652
        ],
        "act_joint_pos_r": [
          -0.6254414147804593,
          -0.9057208531484016,
          0.15123165455197324,
          -1.0249515889250758,
          0.23325145960008967,
          0.7886268831468934,
          -0.6049753571004433
        ],
        "act_eef_pose_l": [
          535.4902875079824,
          376.1870907697837,
          80.17563144788782,
          1.7005488021594735,
          -0.13875125786533496,
          0.7736823221152535
        ],
        "act_eef_pose_r": [
          503.2358644042035,
          -172.79954812687868,
          -30.24625665308008,
          1.5526439268706194,
          -0.08713947578811429,
          2.6193051223058865
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 292,
      "colors": {
        "rgb_main": "colors/000292_rgb_main.jpg",
        "rgb_wrist_0": "colors/000292_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000292_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000292_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31364311362962133,
          -0.5734654919773039,
          -0.07508255390078858,
          -0.9486440795079996,
          -0.008802096983095068,
          -0.8153306626259376,
          0.34633704976175167
        ],
        "joint_pos_r": [
          -0.6131529161165555,
          -0.9989927397970176,
          0.1434605297942426,
          -0.9382411219269003,
          0.27281954383121104,
          0.765045903647273,
          -0.6411166669675471
        ],
        "eef_pose_l": [
          538.3205132859023,
          372.15523184306863,
          77.26546848757656,
          1.7176593581543178,
          -0.13483531371481536,
          0.7749873126221527
        ],
        "eef_pose_r": [
          524.2257981914424,
          -149.47111932465293,
          -36.150433499890624,
          1.5437645270493334,
          -0.0849004693010749,
          2.589439865651429
        ],
        "joint_status_l": {
          "velocity": [
            0.3558363455589131,
            0.8941121349996806,
            -0.04346242453945326,
            0.6648195446485872,
            -2.618667575470919,
            -2.304390054503891,
            2.3615230355558126
          ],
          "torque": [
            -27.28271484375,
            10.48095703125,
            -12.9638671875,
            -0.067138671875,
            -4.713134765625,
            -1.680908203125,
            0.3607177734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.3271187144265895,
            10.073066668829789,
            0.8392567212809343,
            -9.364454245988085,
            -4.27322706486577,
            2.5466706759225133,
            3.903146348499753
          ],
          "torque": [
            24.638671875,
            16.22314453125,
            15.6982421875,
            -15.264892578125,
            0.325927734375,
            5.1104736328125,
            0.7672119140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -15.9,
            -7.4,
            1.3,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -15.9,
            -7.4,
            1.3,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.8,
            -17.8,
            -0.2,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.8,
            -17.8,
            -0.2,
            1.1,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -206,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 9,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3151564865742356,
          -0.5593465943855612,
          -0.07614418154644495,
          -0.9552795407738218,
          -0.035551170657038396,
          -0.8307739607516565,
          0.37065302694137414
        ],
        "act_joint_pos_r": [
          -0.6228136729134559,
          -0.8693535073320626,
          0.154758499836617,
          -1.0510077216480427,
          0.22055532019843715,
          0.798598148170334,
          -0.5942282776824558
        ],
        "act_eef_pose_l": [
          534.3150875079824,
          375.4814907697837,
          82.33883144788778,
          1.6968531123989405,
          -0.1411491533208512,
          0.7734952451286343
        ],
        "act_eef_pose_r": [
          498.1382644042035,
          -183.87154812687868,
          -24.64705665307997,
          1.5546709423848326,
          -0.07888243644639452,
          2.6238623669339565
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 293,
      "colors": {
        "rgb_main": "colors/000293_rgb_main.jpg",
        "rgb_wrist_0": "colors/000293_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000293_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000293_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3139548169454773,
          -0.572082798899681,
          -0.0751715754501571,
          -0.9486116044506911,
          -0.012003183778463756,
          -0.8176771452422389,
          0.34923504894046803
        ],
        "joint_pos_r": [
          -0.6154344729269537,
          -0.9776150979543319,
          0.14527747107046524,
          -0.9575559101644852,
          0.2639476176977647,
          0.7705066091376511,
          -0.6330743412778117
        ],
        "eef_pose_l": [
          537.896949645339,
          372.6184468885411,
          77.74958423574526,
          1.7153191106444918,
          -0.1354311525737159,
          0.7747759840280594
        ],
        "eef_pose_r": [
          519.8611658519795,
          -155.14066880745298,
          -34.66777912273699,
          1.5453634090100712,
          -0.08477740524283098,
          2.595671586375874
        ],
        "joint_status_l": {
          "velocity": [
            0.12977649235290656,
            1.3754695202194966,
            -0.10503836045816506,
            -0.7201158842145006,
            -2.5431075779373535,
            -1.414414359095062,
            2.3130734036440614
          ],
          "torque": [
            -26.18408203125,
            12.95654296875,
            -16.9677734375,
            -3.411865234375,
            -5.35400390625,
            -2.1807861328125,
            0.604248046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.7969300943457824,
            11.691906952842501,
            1.0239209078115596,
            -10.092497977907122,
            -4.686229916964102,
            3.033796738477257,
            4.195251135979738
          ],
          "torque": [
            25.56884765625,
            10.61279296875,
            15.9423828125,
            -10.504150390625,
            0.7781982421875,
            4.7900390625,
            0.69305419921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -17.0,
            -8.3,
            1.5,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.0,
            -8.3,
            1.5,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.0,
            -18.3,
            0.9,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.0,
            -18.3,
            0.9,
            1.1,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -290,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -9,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31393340055749863,
          -0.5609466638934997,
          -0.07590023667174274,
          -0.9488020805586986,
          -0.035022770639862255,
          -0.8345161489284463,
          0.37094810255045113
        ],
        "act_joint_pos_r": [
          -0.620919375865908,
          -0.8521566804455227,
          0.15672133007336134,
          -1.064781736833303,
          0.22038287693328762,
          0.7956396077784553,
          -0.6000660542521689
        ],
        "act_eef_pose_l": [
          534.9454875079824,
          376.4878907697837,
          82.61803144788773,
          1.6967424563632503,
          -0.14273753049547228,
          0.7744345838182141
        ],
        "act_eef_pose_r": [
          497.03346440420347,
          -189.4539481268787,
          -21.60625665308021,
          1.5559833171840216,
          -0.06780192094853756,
          2.618457858352067
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 294,
      "colors": {
        "rgb_main": "colors/000294_rgb_main.jpg",
        "rgb_wrist_0": "colors/000294_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000294_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000294_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3141282752270234,
          -0.5697454379867449,
          -0.07534472321848551,
          -0.9495876868842337,
          -0.016431426063791277,
          -0.820317236627359,
          0.35329679677705633
        ],
        "joint_pos_r": [
          -0.6167817305252504,
          -0.9546054930366512,
          0.14732547862163134,
          -0.9773407133853398,
          0.2552096835019713,
          0.7759420548166207,
          -0.6256839297570305
        ],
        "eef_pose_l": [
          537.2498886093671,
          373.2002151099783,
          78.6216087208625,
          1.7118524085588054,
          -0.13654575898530422,
          0.774532466469824
        ],
        "eef_pose_r": [
          515.6654609866489,
          -161.53412091448914,
          -32.54290141100421,
          1.546965039724684,
          -0.08283673964298345,
          2.600835246680491
        ],
        "joint_status_l": {
          "velocity": [
            -0.02104584359496897,
            0.9502395762526206,
            -0.05999368353259982,
            0.0848429808479878,
            -2.007805997143161,
            -1.5334373022009018,
            1.906284800661684
          ],
          "torque": [
            -26.279296875,
            11.8798828125,
            -18.93310546875,
            -3.741455078125,
            -5.299072265625,
            -2.607421875,
            0.58135986328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.446852517580254,
            11.064145440315976,
            1.0147220291600867,
            -9.44335201559987,
            -3.7611841792202227,
            2.1272729793153644,
            2.7666489565758567
          ],
          "torque": [
            25.15869140625,
            9.7705078125,
            16.61376953125,
            -9.869384765625,
            0.93017578125,
            4.368896484375,
            0.5126953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -17.3,
            -8.1,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -17.3,
            -8.1,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.9,
            0.9,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.9,
            0.9,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -253,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -22,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3098609620245512,
          -0.5709203859996261,
          -0.07483233079640193,
          -0.9287345736103663,
          -0.03636856313162898,
          -0.8453223643770067,
          0.3622368661209255
        ],
        "act_joint_pos_r": [
          -0.6136200613225666,
          -0.823475755538061,
          0.15994648463050043,
          -1.0816196076940026,
          0.23301323198341306,
          0.7916206821027022,
          -0.6192731188256714
        ],
        "act_eef_pose_l": [
          537.8142875079824,
          376.96949076978365,
          83.70283144788782,
          1.6931871422771294,
          -0.1353681820939898,
          0.7756477051427229
        ],
        "act_eef_pose_r": [
          498.07906440420345,
          -201.04034812687868,
          -13.779056653080033,
          1.5511695363874691,
          -0.04446992036955775,
          2.5996354320170303
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 295,
      "colors": {
        "rgb_main": "colors/000295_rgb_main.jpg",
        "rgb_wrist_0": "colors/000295_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000295_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000295_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3138524405025809,
          -0.5685557153385355,
          -0.0753943723556711,
          -0.9482635954309149,
          -0.02024805341633301,
          -0.8238003588711613,
          0.3563399854900397
        ],
        "joint_pos_r": [
          -0.6169369910186038,
          -0.9327755828926643,
          0.14937863810331625,
          -0.9953164440424094,
          0.24971089460183554,
          0.7793204538112802,
          -0.6224908166300283
        ],
        "eef_pose_l": [
          536.9573212179945,
          373.88593155438406,
          79.48010298660094,
          1.7086390014718256,
          -0.13732454047546364,
          0.7745571305732007
        ],
        "eef_pose_r": [
          512.4864210123526,
          -168.0284881238697,
          -29.918368548314078,
          1.5480169939392965,
          -0.0780896006818502,
          2.6024392575790105
        ],
        "joint_status_l": {
          "velocity": [
            -0.4310669619869145,
            -0.255376899458426,
            0.06069869818869922,
            2.10907215286138,
            -1.7409637022722801,
            -2.3243080428301255,
            0.6368443254163303
          ],
          "torque": [
            -33.59619140625,
            4.62158203125,
            -11.46240234375,
            3.22265625,
            -5.1654052734375,
            -3.1439208984375,
            0.457763671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.35821784210199326,
            11.804033212947651,
            1.1412937642756305,
            -9.32046678189824,
            -1.80329437746507,
            1.328385476838001,
            0.34750111387360505
          ],
          "torque": [
            31.025390625,
            10.64208984375,
            17.05322265625,
            -8.23974609375,
            1.494140625,
            4.7039794921875,
            0.6610107421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -17.0,
            -8.3,
            1.5,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -17.0,
            -8.3,
            1.5,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -18.0,
            -0.1,
            1.2,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -18.0,
            -0.1,
            1.2,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -225,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -49,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3129549479398852,
          -0.5802030820581386,
          -0.0739447301277277,
          -0.9136004145673325,
          -0.06288914423474508,
          -0.8561617428028714,
          0.36325299829315943
        ],
        "act_joint_pos_r": [
          -0.606637017356512,
          -0.7996000892229489,
          0.16277376245983532,
          -1.0920909604065787,
          0.2548860363550758,
          0.7806731444127378,
          -0.6474575782257842
        ],
        "act_eef_pose_l": [
          539.9430875079825,
          376.2998907697837,
          85.01003144788778,
          1.6749656143553844,
          -0.11642999250497445,
          0.7796139436524063
        ],
        "act_eef_pose_r": [
          501.50706440420345,
          -212.90034812687867,
          -6.853456653080229,
          1.5463714153668846,
          -0.019814242760688425,
          2.5697324250947395
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 296,
      "colors": {
        "rgb_main": "colors/000296_rgb_main.jpg",
        "rgb_wrist_0": "colors/000296_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000296_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000296_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3132422218215447,
          -0.5690823524321869,
          -0.07528878986302104,
          -0.9448282944289607,
          -0.02329215845055999,
          -0.8274994972904807,
          0.35732450000667565
        ],
        "joint_pos_r": [
          -0.6163721872701533,
          -0.9172277007407331,
          0.15088961963047512,
          -1.0074685550525722,
          0.24771476355154615,
          0.7808676172016236,
          -0.6224622267333006
        ],
        "eef_pose_l": [
          537.1349612838093,
          374.3785739642993,
          80.18414996448709,
          1.7058613171161785,
          -0.13668065333204552,
          0.7747918600256213
        ],
        "eef_pose_r": [
          510.7251504888685,
          -172.95686403287795,
          -27.659964810150598,
          1.5482747198397404,
          -0.07314141698341783,
          2.6015272252794692
        ],
        "joint_status_l": {
          "velocity": [
            -0.0310246641959111,
            -1.2010033779015217,
            0.1451541703183512,
            3.372511558144886,
            -4.276348340539498,
            -3.0954312204745094,
            0.6402589315124274
          ],
          "torque": [
            -36.58447265625,
            2.75390625,
            -15.234375,
            0.09765625,
            -5.2001953125,
            -2.57080078125,
            0.40924072265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.051367342251197,
            12.703407376947418,
            1.283449572249129,
            -9.138950239302446,
            0.7744746208733222,
            -0.021002441766171387,
            -2.699418346099769
          ],
          "torque": [
            34.189453125,
            7.49267578125,
            15.960693359375,
            -9.21630859375,
            1.1590576171875,
            4.6142578125,
            0.77728271484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -16.8,
            -9.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.8,
            -9.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -17.6,
            -1.9,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -17.6,
            -1.9,
            1.1,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -267,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -47,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31467247153177724,
          -0.5892619560990192,
          -0.0729903554529254,
          -0.8931216052419182,
          -0.08110174461859443,
          -0.8733793404757111,
          0.36411843296001545
        ],
        "act_joint_pos_r": [
          -0.6036050588295404,
          -0.781407812745203,
          0.16493771247877095,
          -1.0965860717727054,
          0.27595431053121855,
          0.7696379535015574,
          -0.6727457718888874
        ],
        "act_eef_pose_l": [
          541.6630875079825,
          376.77829076978367,
          85.95483144788777,
          1.6613838040616404,
          -0.10405236876984213,
          0.7800598172734502
        ],
        "act_eef_pose_r": [
          504.74626440420343,
          -223.51794812687868,
          -3.018256653080016,
          1.5447018525739145,
          -0.0019392983296117308,
          2.539789715847901
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 297,
      "colors": {
        "rgb_main": "colors/000297_rgb_main.jpg",
        "rgb_wrist_0": "colors/000297_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000297_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000297_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3134078746555897,
          -0.5721902057793734,
          -0.07493087686748902,
          -0.936726168031052,
          -0.03258842159342968,
          -0.8347370144753907,
          0.3584817719068841
        ],
        "joint_pos_r": [
          -0.6142688347676247,
          -0.8941375282193964,
          0.15326354068863915,
          -1.022996989389329,
          0.251637764950438,
          0.7794425590754759,
          -0.6300684765890158
        ],
        "eef_pose_l": [
          537.8576257697114,
          374.74967987313397,
          81.1121217222487,
          1.6988368063104449,
          -0.13133546412952987,
          0.7757270592344191
        ],
        "eef_pose_r": [
          509.8712980617784,
          -181.59629429327114,
          -23.684961033349623,
          1.5477985607900528,
          -0.061616446371056406,
          2.59202704463331
        ],
        "joint_status_l": {
          "velocity": [
            0.13657243463915947,
            -1.8436946576541047,
            0.2095701318323151,
            4.70915389215687,
            -5.239284362285463,
            -4.173248124660134,
            0.6087414398687763
          ],
          "torque": [
            -31.0107421875,
            2.63671875,
            -9.979248046875,
            0.933837890625,
            -5.5535888671875,
            -2.4554443359375,
            0.55938720703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.1516538350990757,
            12.174450204997633,
            1.2607733688114742,
            -7.94738650176896,
            2.626109469765714,
            -1.0588661723947013,
            -4.609011956843823
          ],
          "torque": [
            35.35400390625,
            7.91015625,
            16.24755859375,
            -8.551025390625,
            4.010009765625,
            2.5323486328125,
            -0.81573486328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -17.0,
            -9.3,
            1.5,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.0,
            -9.3,
            1.5,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.6,
            -0.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.6,
            -0.1,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -297,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -62,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.321816140698289,
          -0.6026735084410253,
          -0.07173394349243571,
          -0.8674001724305606,
          -0.11722370556707797,
          -0.9071457578267496,
          0.37785977870793364
        ],
        "act_joint_pos_r": [
          -0.6060212265014386,
          -0.7647140503682651,
          0.16728789328957455,
          -1.1055624789382108,
          0.3007767287788177,
          0.7544782338485014,
          -0.6976263057832959
        ],
        "act_eef_pose_l": [
          542.2726875079824,
          374.9174907697837,
          87.13723144788769,
          1.6336431277372598,
          -0.08900242758024465,
          0.7704788373997057
        ],
        "act_eef_pose_r": [
          506.52946440420345,
          -232.52754812687868,
          -1.3182566530801978,
          1.544045601645411,
          0.006929537728815623,
          2.5102606392163125
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 298,
      "colors": {
        "rgb_main": "colors/000298_rgb_main.jpg",
        "rgb_wrist_0": "colors/000298_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000298_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000298_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31442188028193585,
          -0.5765101193459844,
          -0.07447008712404492,
          -0.9266553021682794,
          -0.044639889705062864,
          -0.8448999305213748,
          0.36095902494676124
        ],
        "joint_pos_r": [
          -0.6128904505845207,
          -0.8753652628505393,
          0.15526938381600264,
          -1.0350602906723196,
          0.2577978639549526,
          0.7764464035346293,
          -0.639021427669409
        ],
        "eef_pose_l": [
          538.5642954838711,
          374.8119716264621,
          81.95743017380698,
          1.6898749196975018,
          -0.12471998646929082,
          0.7753292075322319
        ],
        "eef_pose_r": [
          509.5784416993647,
          -189.02402696204473,
          -20.5330164570631,
          1.5473267750881645,
          -0.05178453180292877,
          2.5810632294321056
        ],
        "joint_status_l": {
          "velocity": [
            0.7985565727990362,
            -2.825562686747496,
            0.2954947970607025,
            6.399365272484303,
            -7.838820919432832,
            -6.722351083833011,
            1.8252275739967239
          ],
          "torque": [
            -25.8984375,
            1.28173828125,
            -9.4970703125,
            1.654052734375,
            -5.8538818359375,
            -2.71728515625,
            0.63629150390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.741854321148594,
            11.949978502308944,
            1.2979607418399652,
            -7.614011769442541,
            4.641580504878062,
            -2.3724923531807107,
            -6.329140168288561
          ],
          "torque": [
            36.064453125,
            12.1142578125,
            16.485595703125,
            -7.330322265625,
            4.259033203125,
            1.9903564453125,
            -0.7525634765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.5,
            -17.3,
            -8.1,
            1.3,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.3,
            -8.1,
            1.3,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.8,
            -0.7,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.8,
            -0.7,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -242,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -80,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3219611346241567,
          -0.6037033697005635,
          -0.07165332579067825,
          -0.8652193353303936,
          -0.12336598022115645,
          -0.9128340372682777,
          0.3837542318933866
        ],
        "act_joint_pos_r": [
          -0.6073945977435583,
          -0.7574547110567759,
          0.16845990539646,
          -1.1096854900956898,
          0.30929531515170305,
          0.7487687517465449,
          -0.7075066664541174
        ],
        "act_eef_pose_l": [
          542.1054875079824,
          374.5206907697837,
          88.15163144788794,
          1.627766158246588,
          -0.09089698576190956,
          0.7679402656895059
        ],
        "act_eef_pose_r": [
          506.88946440420347,
          -236.19634812687866,
          -0.7982566530799886,
          1.5445117111475943,
          0.011259981214081435,
          2.499261275755494
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 299,
      "colors": {
        "rgb_main": "colors/000299_rgb_main.jpg",
        "rgb_wrist_0": "colors/000299_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000299_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000299_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31583794205631094,
          -0.5815857548827184,
          -0.07394269494286261,
          -0.9151790526881066,
          -0.0591349822388413,
          -0.8573835466389894,
          0.36489672318084604
        ],
        "joint_pos_r": [
          -0.6120850795571061,
          -0.8611020724962866,
          0.15683543635276304,
          -1.0441261258325933,
          0.2635881584399006,
          0.7734272517946198,
          -0.6468407303719521
        ],
        "eef_pose_l": [
          539.2573271502968,
          374.70692099634533,
          82.96866483384503,
          1.678889417466493,
          -0.11769667416354365,
          0.7740140540219272
        ],
        "eef_pose_r": [
          509.4338003904269,
          -194.7810857773873,
          -18.198190947122185,
          1.5469666785756588,
          -0.044267641106368466,
          2.5715788335322287
        ],
        "joint_status_l": {
          "velocity": [
            0.6612852937597502,
            -2.388631951393272,
            0.24724457634694996,
            5.395490343151899,
            -6.936743193785566,
            -5.988476367293494,
            2.0365508760966655
          ],
          "torque": [
            -25.0634765625,
            2.14599609375,
            -9.31396484375,
            0.8056640625,
            -5.5224609375,
            -2.76123046875,
            0.59783935546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5065570957611953,
            11.193584898327558,
            1.2554056305091876,
            -7.080202521002832,
            4.936227338631305,
            -2.6630394630418053,
            -6.551727863989498
          ],
          "torque": [
            36.84814453125,
            9.3896484375,
            16.107177734375,
            -9.320068359375,
            4.1455078125,
            2.1295166015625,
            -0.84503173828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -17.3,
            -9.6,
            1.5,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.3,
            -9.6,
            1.5,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.3,
            -2.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.3,
            -2.6,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -227,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -82,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31586286940916297,
          -0.6059544617203666,
          -0.0713928709910059,
          -0.8572265030845815,
          -0.10265429850736037,
          -0.9282688199767215,
          0.3739550575038488
        ],
        "act_joint_pos_r": [
          -0.6078974697749002,
          -0.7493842626018332,
          0.16945457835663683,
          -1.1053728330346053,
          0.314947750958615,
          0.7484884741169755,
          -0.7126327415031116
        ],
        "act_eef_pose_l": [
          541.1758875079825,
          373.58389076978364,
          88.55403144788788,
          1.63654500662388,
          -0.09742682244873707,
          0.7530787835451799
        ],
        "act_eef_pose_r": [
          508.0766644042035,
          -242.40034812687867,
          -0.6814566530799766,
          1.5467242819244393,
          0.015603278472678188,
          2.4857770613381645
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 300,
      "colors": {
        "rgb_main": "colors/000300_rgb_main.jpg",
        "rgb_wrist_0": "colors/000300_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000300_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000300_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31609261776505565,
          -0.5839164984001998,
          -0.07369984740334734,
          -0.9097453375032825,
          -0.06432018010419906,
          -0.8637958528439479,
          0.36620296119037904
        ],
        "joint_pos_r": [
          -0.6112346625284288,
          -0.8409269845921237,
          0.15910460968609003,
          -1.0562083264431175,
          0.27263605634214116,
          0.7687456724643015,
          -0.658678440701696
        ],
        "eef_pose_l": [
          539.4990970671445,
          374.6105093903571,
          83.46918552980591,
          1.6744642346050478,
          -0.11520171106728595,
          0.7725238248159394
        ],
        "eef_pose_r": [
          509.32431280144345,
          -203.18709889684416,
          -15.041083790736678,
          1.5467007857846113,
          -0.033559989428324916,
          2.5568250949126674
        ],
        "joint_status_l": {
          "velocity": [
            -0.02481209064342238,
            -2.3800298433505063,
            0.24914610436133078,
            5.671866834449979,
            -4.139962685868803,
            -6.962875091315546,
            0.8372017099103068
          ],
          "torque": [
            -27.86865234375,
            2.7685546875,
            -8.941650390625,
            2.838134765625,
            -4.6600341796875,
            -3.5211181640625,
            0.59051513671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.36040618776844724,
            9.886322393458435,
            1.1177636497423649,
            -5.309610113300778,
            4.569528247547527,
            -2.187712898368055,
            -5.826892631541014
          ],
          "torque": [
            36.80419921875,
            11.2939453125,
            17.059326171875,
            -7.0068359375,
            3.936767578125,
            2.0782470703125,
            -0.7708740234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.3,
            -8.7,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.3,
            -8.7,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.5,
            -1.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.5,
            -1.6,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -221,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -97,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31781321804709994,
          -0.6189812579156004,
          -0.07005519794774595,
          -0.8227472954076274,
          -0.11945622513266942,
          -0.9699613848949332,
          0.3891162610558356
        ],
        "act_joint_pos_r": [
          -0.604050917971462,
          -0.7400419501099034,
          0.17091010791091168,
          -1.1103471396570805,
          0.30640255380921877,
          0.730966738530494,
          -0.7027494166716975
        ],
        "act_eef_pose_l": [
          541.3830875079824,
          373.7454907697837,
          89.85643144788769,
          1.6188099949758563,
          -0.10134852507515915,
          0.7390320668659339
        ],
        "act_eef_pose_r": [
          509.68466440420343,
          -247.13314812687867,
          -0.5662566530802451,
          1.5607193642135493,
          0.017566019801637436,
          2.4723813186892647
        ],
        "act_grip_l": false,
        "act_grip_r": true
      }
    },
    {
      "idx": 301,
      "colors": {
        "rgb_main": "colors/000301_rgb_main.jpg",
        "rgb_wrist_0": "colors/000301_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000301_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000301_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3161625211474067,
          -0.5888394749438348,
          -0.07318601142764405,
          -0.8978137510960887,
          -0.0725431062231689,
          -0.8784063802221906,
          0.36854940911628226
        ],
        "joint_pos_r": [
          -0.6103802870588697,
          -0.8230791360452215,
          0.16114571804174888,
          -1.065791297052204,
          0.28013797593154377,
          0.7638981265669933,
          -0.6683034862447651
        ],
        "eef_pose_l": [
          539.8680389807635,
          374.39315710041484,
          84.43135990064522,
          1.6665522356811602,
          -0.11164637879504873,
          0.7679745133641986
        ],
        "eef_pose_r": [
          509.4182925415828,
          -210.96235584800164,
          -12.44055063819377,
          1.5475912622915846,
          -0.024259126438242188,
          2.5425015117277447
        ],
        "joint_status_l": {
          "velocity": [
            0.17827000737380416,
            -3.2552165534696087,
            0.33811788357518413,
            8.106938112995898,
            -5.0664674147571365,
            -9.887648884039812,
            2.2211545000212496
          ],
          "torque": [
            -24.48486328125,
            -1.73583984375,
            -7.855224609375,
            5.13916015625,
            -6.0076904296875,
            -4.6636962890625,
            0.59783935546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.683551701160745,
            8.967751591319129,
            1.054523004375918,
            -4.811889082243503,
            2.836490752966103,
            -3.5564850150233696,
            -3.7200507690755558
          ],
          "torque": [
            38.16650390625,
            10.42236328125,
            16.7236328125,
            -9.051513671875,
            3.7646484375,
            1.3458251953125,
            -0.9136962890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -17.2,
            -8.3,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.2,
            -8.3,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -16.6,
            -2.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -16.6,
            -2.0,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -221,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -139,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32183434473244726,
          -0.6224384080271029,
          -0.06971408445530818,
          -0.8129749299027639,
          -0.1409679090332346,
          -0.9806481718875726,
          0.4028681756828175
        ],
        "act_joint_pos_r": [
          -0.6029351232576907,
          -0.731837127277691,
          0.1720373970240216,
          -1.1094068664818095,
          0.30645258324112,
          0.7277113015315273,
          -0.7127695103343794
        ],
        "act_eef_pose_l": [
          541.7718875079825,
          374.5686907697837,
          91.04123144788768,
          1.6029714827289685,
          -0.10055616569359888,
          0.7416001111056587
        ],
        "act_eef_pose_r": [
          510.5158644042035,
          -252.32194812687868,
          -0.01665665307996278,
          1.5650858350748338,
          0.0317505272113995,
          2.461848185861465
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 302,
      "colors": {
        "rgb_main": "colors/000302_rgb_main.jpg",
        "rgb_wrist_0": "colors/000302_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000302_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000302_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31663093317973223,
          -0.5943205880918592,
          -0.07261748007010568,
          -0.8841122970148501,
          -0.08178224998480968,
          -0.8950632977355776,
          0.37278960448125664
        ],
        "joint_pos_r": [
          -0.6091189630231021,
          -0.806905248469836,
          0.16305705630969403,
          -1.074159364321124,
          0.28510586221588985,
          0.7574837004182708,
          -0.6753973098089565
        ],
        "eef_pose_l": [
          540.2053092098668,
          374.2702588206078,
          85.34722930475564,
          1.657795876095021,
          -0.10922385800221981,
          0.762820996062827
        ],
        "eef_pose_r": [
          509.72200778855625,
          -218.16048005370234,
          -10.269824469209084,
          1.5504401994069623,
          -0.01563659753602622,
          2.528489022086514
        ],
        "joint_status_l": {
          "velocity": [
            0.561951873808475,
            -3.0366349922443803,
            0.3135574785146922,
            7.6826090616632925,
            -6.391862659317793,
            -9.24289380383403,
            3.248389883629965
          ],
          "torque": [
            -22.998046875,
            3.7939453125,
            -7.28759765625,
            2.08740234375,
            -5.5316162109375,
            -2.73193359375,
            0.59326171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6678349979249987,
            8.107117982087964,
            0.9698481930038305,
            -3.8066179631579544,
            2.3053778772386124,
            -3.215324248849072,
            -4.036078618970151
          ],
          "torque": [
            38.5986328125,
            9.9169921875,
            16.8701171875,
            -8.709716796875,
            3.8250732421875,
            2.1807861328125,
            -0.82305908203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.3,
            -8.8,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -16.3,
            -8.8,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -16.9,
            -1.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -16.9,
            -1.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -242,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": -166,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3248436769625033,
          -0.6224748001326168,
          -0.06976807483477865,
          -0.8146875176214373,
          -0.15165439545552664,
          -0.9813935039139673,
          0.40341354139726815
        ],
        "act_joint_pos_r": [
          -0.6025100305982467,
          -0.7203250149530261,
          0.17372119179467216,
          -1.1138128196734072,
          0.31167369832278746,
          0.7177288479259869,
          -0.7232829133105635
        ],
        "act_eef_pose_l": [
          541.5318875079824,
          374.1606907697837,
          91.27323144788765,
          1.595828605379971,
          -0.09277590554787606,
          0.7427345689710326
        ],
        "act_eef_pose_r": [
          511.34626440420345,
          -258.5187481268787,
          0.8753433469198626,
          1.5700965704777368,
          0.04229640975160364,
          2.445861136614077
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 303,
      "colors": {
        "rgb_main": "colors/000303_rgb_main.jpg",
        "rgb_wrist_0": "colors/000303_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000303_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000303_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.31785212811576763,
          -0.5999767491150713,
          -0.07203679076905074,
          -0.8699072222588099,
          -0.09430453391446005,
          -0.9123163655123628,
          0.37886961773925226
        ],
        "joint_pos_r": [
          -0.6078448412958447,
          -0.7909802000668991,
          0.16498426451366122,
          -1.0815647532113064,
          0.28977479975341014,
          0.7507771922669917,
          -0.6836702995488089
        ],
        "eef_pose_l": [
          540.5484906169605,
          374.241909516883,
          86.40180179099758,
          1.6467943843757396,
          -0.1063885961479964,
          0.7583984809560014
        ],
        "eef_pose_r": [
          510.1364702590105,
          -225.51901476509082,
          -8.246749540667082,
          1.5538745523290527,
          -0.005462488728317961,
          2.5137754046380065
        ],
        "joint_status_l": {
          "velocity": [
            0.7550650059955366,
            -2.4297178491972105,
            0.24501409459698476,
            5.963552215265899,
            -6.193602375897611,
            -7.460110923162233,
            2.650665577863087
          ],
          "torque": [
            -24.19921875,
            2.45361328125,
            -7.659912109375,
            1.01318359375,
            -6.0516357421875,
            -3.0303955078125,
            0.6390380859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5761425629238204,
            7.6305349417005175,
            0.9435603175251828,
            -3.4826884615002385,
            2.365011293213204,
            -3.569115923381716,
            -4.278036112338235
          ],
          "torque": [
            36.93603515625,
            11.96044921875,
            17.05322265625,
            -6.70166015625,
            4.105224609375,
            1.717529296875,
            -0.8642578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.7,
            -9.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.7,
            -9.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.6,
            0.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.6,
            0.3,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -265,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 25,
          "motor_current": -629,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3249618154108705,
          -0.6228796570742968,
          -0.06972857002673384,
          -0.8127070653954449,
          -0.15263498676200304,
          -0.9833918775807604,
          0.4024539155403781
        ],
        "act_joint_pos_r": [
          -0.6019737443657407,
          -0.7144351582340817,
          0.17469230917498343,
          -1.1170264373803585,
          0.31497060561013157,
          0.7111232656858363,
          -0.7319349281211602
        ],
        "act_eef_pose_l": [
          541.5486875079824,
          374.4230907697837,
          91.3668314478878,
          1.5948968013740161,
          -0.09134745489342483,
          0.7427213423565193
        ],
        "act_eef_pose_r": [
          511.8782644042035,
          -261.56274812687866,
          1.547343346919888,
          1.5725727780089342,
          0.05058864379795445,
          2.4371176869357343
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 304,
      "colors": {
        "rgb_main": "colors/000304_rgb_main.jpg",
        "rgb_wrist_0": "colors/000304_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000304_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000304_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3190015061397939,
          -0.6036753237785465,
          -0.0716638244500314,
          -0.8608293603436985,
          -0.10373258369015896,
          -0.9236723249116158,
          0.38290452432351685
        ],
        "joint_pos_r": [
          -0.6070270766078494,
          -0.7801675951596765,
          0.16632491328434562,
          -1.0865075901678554,
          0.29314792115778415,
          0.7456624887642216,
          -0.6898118270519037
        ],
        "eef_pose_l": [
          540.7305982511788,
          374.18131716880026,
          87.14022223782601,
          1.6386852662848868,
          -0.10375693504787471,
          0.7556908749639312
        ],
        "eef_pose_r": [
          510.4582870019639,
          -230.59658490626126,
          -6.918897609479302,
          1.556456762186513,
          0.001831863437070096,
          2.5032178743099855
        ],
        "joint_status_l": {
          "velocity": [
            0.6309358403946419,
            -2.030283566226032,
            0.20473492011363614,
            4.9831720432012006,
            -5.175403030306502,
            -6.233703478996766,
            2.2149085187299633
          ],
          "torque": [
            -23.4228515625,
            2.89306640625,
            -7.513427734375,
            0.54931640625,
            -5.5682373046875,
            -2.8582763671875,
            0.6097412109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5457437862954606,
            7.098893817283347,
            0.9036521043945811,
            -3.2959382904458323,
            2.3567804113304724,
            -3.730126078277607,
            -4.549160745154879
          ],
          "torque": [
            36.97265625,
            10.869140625,
            16.827392578125,
            -8.4228515625,
            3.973388671875,
            2.3822021484375,
            -0.65826416015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.7,
            -10.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.7,
            -10.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.6,
            -1.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.6,
            -1.3,
            1.1,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 82,
          "motor_current": -1095,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3257674992414041,
          -0.6237545014751459,
          -0.06959712408545676,
          -0.807699058764485,
          -0.1518121577542403,
          -0.9897124023371183,
          0.3979872626858412
        ],
        "act_joint_pos_r": [
          -0.5980434447557426,
          -0.7058454166886985,
          0.175948490791713,
          -1.119400385985286,
          0.31406365174932555,
          0.7028141503740976,
          -0.7381491467975844
        ],
        "act_eef_pose_l": [
          541.1862875079825,
          374.8942907697837,
          90.87323144788779,
          1.5951905868337244,
          -0.08712426259537756,
          0.7405368075387474
        ],
        "act_eef_pose_r": [
          513.1646644042034,
          -266.34514812687866,
          3.372943346919783,
          1.5772602152552757,
          0.06345220608292759,
          2.4258641012605744
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 305,
      "colors": {
        "rgb_main": "colors/000305_rgb_main.jpg",
        "rgb_wrist_0": "colors/000305_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000305_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000305_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3200614906925678,
          -0.6069194431851821,
          -0.07133260335104841,
          -0.8524201570861422,
          -0.11169006783565683,
          -0.9341186131340788,
          0.3856740765352889
        ],
        "joint_pos_r": [
          -0.6057528262499244,
          -0.7683921983969141,
          0.1678422252261018,
          -1.0917926293823055,
          0.2966331254733675,
          0.7390467775391378,
          -0.6974378983989894
        ],
        "eef_pose_l": [
          540.8480390825126,
          374.2336452228685,
          87.73763575799896,
          1.6317202385590561,
          -0.1009864223063804,
          0.7532633102372817
        ],
        "eef_pose_r": [
          510.98820619563367,
          -236.24245472128658,
          -5.396756779012549,
          1.55975548106342,
          0.011214226312858337,
          2.4909253357494636
        ],
        "joint_status_l": {
          "velocity": [
            0.6162307485197971,
            -1.81813267235853,
            0.18742623284273563,
            4.829736173284971,
            -4.333057914495009,
            -6.003952156824255,
            1.3297848843505378
          ],
          "torque": [
            -24.38232421875,
            1.31103515625,
            -7.537841796875,
            1.348876953125,
            -5.7403564453125,
            -3.134765625,
            0.6353759765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.8325886454825238,
            6.754853200741984,
            0.8754508610429035,
            -2.981549777010706,
            1.8824413181643962,
            -3.9130083258127613,
            -4.396685153751356
          ],
          "torque": [
            36.1083984375,
            12.28271484375,
            17.12646484375,
            -7.781982421875,
            3.819580078125,
            1.864013671875,
            -0.8843994140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -17.0,
            -10.1,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -17.0,
            -10.1,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -17.4,
            -1.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -17.4,
            -1.1,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -236,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 156,
          "motor_current": -1421,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32656473925480023,
          -0.6259535604366073,
          -0.06938098717694019,
          -0.8015393401907024,
          -0.1508139868816006,
          -0.9957080168716739,
          0.39260757142892
        ],
        "act_joint_pos_r": [
          -0.5956505020200513,
          -0.698845728161291,
          0.17707353963057862,
          -1.1225327437237769,
          0.32640553114013127,
          0.6950983064203723,
          -0.7534953509565576
        ],
        "act_eef_pose_l": [
          541.1654875079824,
          375.0846907697837,
          90.18923144788782,
          1.5957500113288299,
          -0.08195611753303779,
          0.738454055263595
        ],
        "act_eef_pose_r": [
          514.7238644042035,
          -270.6491481268787,
          5.869743346919904,
          1.5749824208710905,
          0.0734017588658746,
          2.41133757051599
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 306,
      "colors": {
        "rgb_main": "colors/000306_rgb_main.jpg",
        "rgb_wrist_0": "colors/000306_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000306_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000306_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3212406074368118,
          -0.6103790226154913,
          -0.07097729547566568,
          -0.8431899529782274,
          -0.11914883931287,
          -0.945383478295025,
          0.3873237673519184
        ],
        "joint_pos_r": [
          -0.6048809445158254,
          -0.7618636359044304,
          0.16869791390762137,
          -1.0946761724043355,
          0.2989087491579837,
          0.7351041136476102,
          -0.7021610542210394
        ],
        "eef_pose_l": [
          540.9300986625211,
          374.3567588733237,
          88.20261448388092,
          1.6250563715802355,
          -0.09744368883889692,
          0.7505570083040224
        ],
        "eef_pose_r": [
          511.36213361020816,
          -239.43148724641932,
          -4.455716518177411,
          1.5614658883220502,
          0.016811269368550017,
          2.4837279885637193
        ],
        "joint_status_l": {
          "velocity": [
            0.5749892779403076,
            -1.6820004767286179,
            0.17239621170794805,
            4.498133515697056,
            -3.419735077728081,
            -5.434889872768522,
            0.5706340103652785
          ],
          "torque": [
            -24.71923828125,
            0.81298828125,
            -7.220458984375,
            0.531005859375,
            -5.537109375,
            -2.7374267578125,
            0.6298828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.9968583887767224,
            6.805733311884055,
            0.9045409000714155,
            -3.0084209738658885,
            2.9695648714378464,
            -4.320499754213003,
            -5.5439405376498385
          ],
          "torque": [
            37.3388671875,
            10.9423828125,
            17.462158203125,
            -7.36083984375,
            3.8690185546875,
            1.8475341796875,
            -0.919189453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.8,
            -16.5,
            -9.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.5,
            -9.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.7,
            -2.5,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.7,
            -2.5,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -219,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 261,
          "motor_current": -1723,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.32794834574918863,
          -0.6274403563362854,
          -0.0692512900823267,
          -0.7980417687290617,
          -0.1499928165496665,
          -0.9980657671365322,
          0.3898307379878651
        ],
        "act_joint_pos_r": [
          -0.596935523238757,
          -0.6931014845202024,
          0.1781128722967044,
          -1.1294773190768694,
          0.3463414897243293,
          0.6886128207967459,
          -0.7735144851949788
        ],
        "act_eef_pose_l": [
          541.2006875079824,
          375.1894907697837,
          89.17723144788788,
          1.597176068083746,
          -0.07871505488066977,
          0.7378784753604053
        ],
        "act_eef_pose_r": [
          515.1510644042035,
          -273.2451481268787,
          7.799343346919841,
          1.5687683734063922,
          0.07804681243285859,
          2.3988449490790376
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 307,
      "colors": {
        "rgb_main": "colors/000307_rgb_main.jpg",
        "rgb_wrist_0": "colors/000307_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000307_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000307_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3222719999408033,
          -0.6131071782455673,
          -0.0707002344497012,
          -0.8359481106427901,
          -0.12426177871823733,
          -0.9539226529358212,
          0.38787905437481685
        ],
        "joint_pos_r": [
          -0.603286819590908,
          -0.7505521439213556,
          0.17020944457252082,
          -1.0998062419460477,
          0.3043583170991419,
          0.7278394954838853,
          -0.7118277479984967
        ],
        "eef_pose_l": [
          540.9881234453972,
          374.4744424836918,
          88.38931914967316,
          1.6205037070620152,
          -0.09436268942099775,
          0.7484905715099327
        ],
        "eef_pose_r": [
          512.1161815745941,
          -245.03500183938846,
          -2.629450384001643,
          1.56375354044811,
          0.026927371705312415,
          2.4704227756940864
        ],
        "joint_status_l": {
          "velocity": [
            0.6130272670326065,
            -1.5479375798186368,
            0.15648137650492444,
            4.093764187562243,
            -2.7788701274009675,
            -4.767315729214516,
            0.21077561371463105
          ],
          "torque": [
            -23.876953125,
            1.95556640625,
            -6.622314453125,
            1.50146484375,
            -5.6561279296875,
            -2.7557373046875,
            0.56304931640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6859197759103708,
            6.204488223725768,
            0.8535450202469264,
            -3.2043818219387177,
            4.534048918895195,
            -4.2363559215727875,
            -6.661971132883693
          ],
          "torque": [
            36.76025390625,
            10.8544921875,
            16.50390625,
            -7.427978515625,
            3.9093017578125,
            2.1697998046875,
            -0.6317138671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.8,
            -9.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -16.8,
            -9.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.5,
            -1.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.5,
            -1.5,
            1.1,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -253,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 476,
          "motor_current": -1910,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3285353933636219,
          -0.6283920493389541,
          -0.06917418865054152,
          -0.7960520111743418,
          -0.14991329441181184,
          -0.9993536657459897,
          0.38985742202561663
        ],
        "act_joint_pos_r": [
          -0.5983197843957964,
          -0.6904555112738747,
          0.17867975783566606,
          -1.1330458345419168,
          0.35322379938144355,
          0.6862142823625736,
          -0.7803186488486654
        ],
        "act_eef_pose_l": [
          541.2838875079824,
          375.2094907697837,
          88.76283144788776,
          1.5975386580551552,
          -0.07839473324917316,
          0.7376012769013595
        ],
        "act_eef_pose_r": [
          514.9142644042034,
          -274.1339481268787,
          8.194543346919772,
          1.5670468691439345,
          0.07885867000546153,
          2.3948476516831017
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "idx": 308,
      "colors": {
        "rgb_main": "colors/000308_rgb_main.jpg",
        "rgb_wrist_0": "colors/000308_rgb_wrist_0.jpg",
        "rgb_wrist_1": "colors/000308_rgb_wrist_1.jpg"
      },
      "depths": {
        "depth_main": "depths/000308_depth_main.npz"
      },
      "states": {
        "joint_pos_l": [
          0.3229383102302706,
          -0.6147663603553819,
          -0.07053334619666966,
          -0.831583288044425,
          -0.1271618501086458,
          -0.9589604341230127,
          0.38810045947555577
        ],
        "joint_pos_r": [
          -0.602166628198771,
          -0.7395380821408891,
          0.1717364270609989,
          -1.1056225413667478,
          0.3126946229580243,
          0.7202848209264259,
          -0.7238842171035784
        ],
        "eef_pose_l": [
          541.0244033906133,
          374.5494152290244,
          88.44676700558483,
          1.6179410325407695,
          -0.09249479032304529,
          0.7472758461466165
        ],
        "eef_pose_r": [
          512.8109762813498,
          -250.42899258536187,
          -0.6639429205501983,
          1.5645765122296142,
          0.036663748855010406,
          2.4565394410268553
        ],
        "joint_status_l": {
          "velocity": [
            0.6044671505960331,
            -1.4715310097388468,
            0.14678468579898407,
            3.837264727896361,
            -2.4570835169372973,
            -4.36234035492955,
            0.18974635913693305
          ],
          "torque": [
            -24.32373046875,
            2.48291015625,
            -6.976318359375,
            0.787353515625,
            -5.7989501953125,
            -2.7886962890625,
            0.61981201171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.41544687777061995,
            5.300761316039626,
            0.7498576077960006,
            -2.9616283143596434,
            4.377021960367156,
            -3.6795096435602304,
            -6.094738873755112
          ],
          "torque": [
            37.0751953125,
            11.9384765625,
            16.50390625,
            -8.1298828125,
            4.24072265625,
            2.2906494140625,
            -0.7379150390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -17.0,
            -9.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -17.0,
            -9.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.8,
            -2.7,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.8,
            -2.7,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -286,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 683,
          "motor_current": 469,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.31982964774443345,
          -0.624615462413731,
          -0.0695930454355056,
          -0.8082406511785033,
          -0.11008271137193129,
          -0.9819027916736616,
          0.3898289925898109
        ],
        "act_joint_pos_r": [
          -0.6019274981492724,
          -0.6855057044896513,
          0.17966854373195806,
          -1.1401860126477037,
          0.3672239278595377,
          0.6809683661286071,
          -0.7939637857393465
        ],
        "act_eef_pose_l": [
          541.4214875079824,
          374.05909076978367,
          86.85403144788783,
          1.6266315553460218,
          -0.10587924262842587,
          0.7328521236901975
        ],
        "act_eef_pose_r": [
          514.3126644042035,
          -275.77714812687867,
          8.436143346919835,
          1.5644755215016755,
          0.07951066525995377,
          2.3868099881895533
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    }
  ]
}