{
  "info": {
    "version": "1.0.0",
    "datetime": "2025-06-13-21:03",
    "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_0046",
    "episode_id": 46,
    "task": "Push the box to the lined area.",
    "total_steps": 264
  },
  "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,
          -0.5092535993465214,
          0.35808774284926886
        ],
        "joint_pos_r": [
          -0.4804558620654106,
          -0.2846939342943334,
          0.27779962033772554,
          -1.3152536087568052,
          -0.02999999999999998,
          0.7533570687157973,
          -0.19766064072896
        ],
        "eef_pose_l": [
          457.76548750798236,
          348.26789076978366,
          116.82043144788787,
          1.6656263244780796,
          -0.0754936507169403,
          0.8180631129867807
        ],
        "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": [
            -28.43994140625,
            10.0927734375,
            -20.721435546875,
            -4.13818359375,
            -2.75390625,
            -1.036376953125,
            -0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            27.10693359375,
            15.234375,
            18.408203125,
            -4.833984375,
            1.79443359375,
            1.4410400390625,
            0.52825927734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.9,
            -9.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.9,
            -9.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.2,
            1.2,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.2,
            1.2,
            1.0,
            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": 700,
          "motor_current": -261,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35796024155960027,
          -0.29185868265297066,
          -0.12847009057949968,
          -1.519147147131643,
          -0.10984926145879738,
          -0.5092536146021344,
          0.35808773475403266
        ],
        "act_joint_pos_r": [
          -0.480455521469033,
          -0.2846939284347493,
          0.277799626191243,
          -1.3152536269136812,
          -0.02999999278066623,
          0.7533570419891711,
          -0.19766064531856284
        ],
        "act_eef_pose_l": [
          457.76548750798236,
          348.26789076978366,
          116.82043144788787,
          1.6656263232034922,
          -0.07549364575442372,
          0.8180631049630251
        ],
        "act_eef_pose_r": [
          451.8198644042035,
          -395.37474812687867,
          103.95054334691986,
          1.689961907456498,
          0.014678289631629557,
          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,
          -0.5092535993465214,
          0.35808774284926886
        ],
        "joint_pos_r": [
          -0.4804558620654106,
          -0.2846939342943334,
          0.27779962033772554,
          -1.3152536087568052,
          -0.02999999999999998,
          0.7533570687157973,
          -0.19766064072896
        ],
        "eef_pose_l": [
          457.76548750798236,
          348.26789076978366,
          116.82043144788787,
          1.6656263244780796,
          -0.0754936507169403,
          0.8180631129867807
        ],
        "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": [
            -28.41796875,
            10.0634765625,
            -20.71533203125,
            -4.144287109375,
            -2.75390625,
            -1.0345458984375,
            -0.3131103515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            27.10693359375,
            15.234375,
            18.408203125,
            -4.827880859375,
            1.7962646484375,
            1.439208984375,
            0.52734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.8,
            -9.1,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.8,
            -9.1,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.1,
            1.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.1,
            1.3,
            1.0,
            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": 700,
          "motor_current": -198,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35625145992608714,
          -0.2938415344688305,
          -0.12773152619970382,
          -1.5163349513997049,
          -0.10522735717807587,
          -0.512925057294281,
          0.3519027983168946
        ],
        "act_joint_pos_r": [
          -0.4785020918266567,
          -0.2852614144298133,
          0.27719146726371235,
          -1.3130641948234052,
          -0.03520868487652561,
          0.7582087918009501,
          -0.1982152096880948
        ],
        "act_eef_pose_l": [
          458.0334875079824,
          347.78149076978366,
          116.82043144788787,
          1.666221601207752,
          -0.07367817902720741,
          0.8148896040735883
        ],
        "act_eef_pose_r": [
          451.55746440420353,
          -395.18594812687866,
          103.88894334692009,
          1.6920070395990137,
          0.019432253573358784,
          2.3542951717958176
        ],
        "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": [
          0.3579093725882374,
          -0.2919171543381029,
          -0.1284483114918865,
          -1.519064224704667,
          -0.10971296638218296,
          -0.5093618704525898,
          0.3579053501458999
        ],
        "joint_pos_r": [
          -0.4802615120889859,
          -0.2847503785144719,
          0.2777391305751888,
          -1.3150358392060169,
          -0.030518082519866128,
          0.7538396449378726,
          -0.19771580128312957
        ],
        "eef_pose_l": [
          457.77341799393065,
          348.25353365998194,
          116.82048186508725,
          1.6656433949533798,
          -0.07544018408208363,
          0.8179695117607763
        ],
        "eef_pose_r": [
          451.79389313317125,
          -395.3557527043512,
          103.94478744080729,
          1.6901631793707284,
          0.015152442101443848,
          2.3503507067475296
        ],
        "joint_status_l": {
          "velocity": [
            -0.17904928673573295,
            -0.20782692459064833,
            0.07741052845433583,
            0.29475282366675515,
            0.484431506500016,
            -0.3848128294543507,
            -0.6482564782301914
          ],
          "torque": [
            -28.4033203125,
            10.10009765625,
            -20.71533203125,
            -4.144287109375,
            -2.75390625,
            -1.0345458984375,
            -0.33233642578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.1900117842339455,
            -0.055190251107006816,
            -0.059145893224643586,
            0.21293131324817693,
            -0.5065701140323231,
            0.4718539446244563,
            -0.05393451702251362
          ],
          "torque": [
            27.71484375,
            11.97509765625,
            12.677001953125,
            -2.008056640625,
            1.717529296875,
            1.83837890625,
            0.318603515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.7,
            -9.0,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.7,
            -9.0,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.3,
            0.3,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.3,
            0.3,
            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": 700,
          "motor_current": -238,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3521678058680596,
          -0.3007492854983093,
          -0.1252096110343336,
          -1.505808241741559,
          -0.08375601232327427,
          -0.5255511655784036,
          0.3268872994715117
        ],
        "act_joint_pos_r": [
          -0.4766758670106856,
          -0.28817459296733594,
          0.27461098939437134,
          -1.3069919892299269,
          -0.036340080410874435,
          0.7664161344687963,
          -0.20087942768548112
        ],
        "act_eef_pose_l": [
          458.78228750798235,
          346.3254907697837,
          115.3692314478879,
          1.6726775247512704,
          -0.06722488783454128,
          0.8036337590053666
        ],
        "act_eef_pose_r": [
          451.64066440420345,
          -394.87234812687865,
          103.25854334692008,
          1.6925254325782622,
          0.02151712792649549,
          2.3598875602533473
        ],
        "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": [
          0.3572815541282242,
          -0.29280217749672566,
          -0.1281223428792796,
          -1.5177564170880622,
          -0.10726286022153997,
          -0.5109887351272037,
          0.3548946712553597
        ],
        "joint_pos_r": [
          -0.4796987724354613,
          -0.28521410701139865,
          0.2773104056516161,
          -1.3138978955382603,
          -0.031547360695856556,
          0.7556998791109669,
          -0.1981459573148128
        ],
        "eef_pose_l": [
          457.88114583128544,
          348.05239491497036,
          116.72034632892324,
          1.6661967003191558,
          -0.07462971147410569,
          0.8165335921529168
        ],
        "eef_pose_r": [
          451.76067367857473,
          -395.28361642366184,
          103.85563403901283,
          1.6905700120237115,
          0.016228728451114716,
          2.3517991031477576
        ],
        "joint_status_l": {
          "velocity": [
            -0.552268523808408,
            -0.8582623510760001,
            0.3145657616330233,
            1.290364880146555,
            2.538664699099802,
            -1.5726961045370302,
            -3.024706943692834
          ],
          "torque": [
            -30.73974609375,
            4.892578125,
            -11.981201171875,
            -0.982666015625,
            -0.6536865234375,
            -2.537841796875,
            -1.16363525390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3264641573306193,
            -0.31972305351368746,
            -0.2915283576132577,
            0.7458158846365137,
            -0.5175984634712694,
            1.1573214452740288,
            -0.2952060933938405
          ],
          "torque": [
            28.32275390625,
            9.16259765625,
            10.9619140625,
            0.030517578125,
            1.8017578125,
            1.8896484375,
            -0.51177978515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.1,
            -16.7,
            -9.0,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.1,
            -16.7,
            -9.0,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.4,
            1.2,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.4,
            1.2,
            1.0,
            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": 700,
          "motor_current": -192,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3512244013924068,
          -0.3058657355321037,
          -0.12335326799580297,
          -1.4960097019631007,
          -0.07786156720738796,
          -0.5374983085261483,
          0.3210292143526851
        ],
        "act_joint_pos_r": [
          -0.4710688362194713,
          -0.2923326950618124,
          0.27096008251304154,
          -1.2976738826521652,
          -0.03998607994941539,
          0.7737170039176179,
          -0.20078808185268188
        ],
        "act_eef_pose_l": [
          459.38308750798234,
          345.7454907697837,
          114.30123144788791,
          1.6740798010039255,
          -0.06509698943550073,
          0.7959032609460701
        ],
        "act_eef_pose_r": [
          452.7422644042035,
          -395.2931481268787,
          103.25534334691997,
          1.6934653192088611,
          0.024771690208139848,
          2.3628883050391605
        ],
        "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": [
          0.3561115453697679,
          -0.29493396188677,
          -0.12734263677287597,
          -1.5143704715318889,
          -0.10175077708709783,
          -0.5151159265402875,
          0.34842731472056426
        ],
        "joint_pos_r": [
          -0.47919230951696484,
          -0.2856707978475853,
          0.27689813169920974,
          -1.3128438252726709,
          -0.03219570420435764,
          0.7571244321746391,
          -0.19845171606638243
        ],
        "eef_pose_l": [
          458.1303839207065,
          347.63205764950834,
          116.35465670190021,
          1.6676126715312096,
          -0.07289995739322801,
          0.8131144111988833
        ],
        "eef_pose_r": [
          451.780535391684,
          -395.24943124619017,
          103.7886435871838,
          1.6908114346500733,
          0.016924900176423004,
          2.3527984756773983
        ],
        "joint_status_l": {
          "velocity": [
            -0.5277959830447543,
            -1.1805967338567314,
            0.43083912100327915,
            1.9829046307826559,
            2.5799585751979937,
            -2.4172259622039505,
            -2.9589075714171464
          ],
          "torque": [
            -30.32958984375,
            3.34716796875,
            -8.77685546875,
            0.067138671875,
            -0.7269287109375,
            -2.5396728515625,
            -0.66009521484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.8773092412761585,
            -0.7194636796894471,
            -0.6412903982568885,
            1.6383054837767475,
            -0.8413357665942034,
            1.791944897651554,
            -0.25232006313768984
          ],
          "torque": [
            28.9306640625,
            7.50732421875,
            10.41259765625,
            0.115966796875,
            1.80908203125,
            2.16796875,
            -0.53375244140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -16.7,
            -9.4,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.7,
            -9.4,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.4,
            1.4,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.4,
            1.4,
            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": 700,
          "motor_current": -221,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35533553547626684,
          -0.3104759811223749,
          -0.12191506563750822,
          -1.4921506152008865,
          -0.0940938138360322,
          -0.5393084142443803,
          0.32512288720780286
        ],
        "act_joint_pos_r": [
          -0.4735649609217058,
          -0.29412996526094787,
          0.26945592826582665,
          -1.2940344176419505,
          -0.02317629787647224,
          0.7764565782667494,
          -0.2351390589544032
        ],
        "act_eef_pose_l": [
          460.23748750798234,
          344.9398907697837,
          113.13403144788782,
          1.6693361546714902,
          -0.051268258334577134,
          0.796866999257435
        ],
        "act_eef_pose_r": [
          453.2078644042035,
          -395.50754812687865,
          103.61454334692007,
          1.6846835981953168,
          0.04417281330089663,
          2.3640202532923853
        ],
        "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": [
          0.35548635434707765,
          -0.29713469175161833,
          -0.12655370920437178,
          -1.5108998824104865,
          -0.09847021630948348,
          -0.5191785046982631,
          0.3438209826905051
        ],
        "joint_pos_r": [
          -0.47763241827064146,
          -0.2870634003833175,
          0.2756597273924788,
          -1.3096860643546635,
          -0.03326650916631792,
          0.7605417236593024,
          -0.19993452255716787
        ],
        "eef_pose_l": [
          458.40801721315336,
          347.2514283999113,
          115.93282514969,
          1.6684241724119624,
          -0.07073651739142782,
          0.8101269164561108
        ],
        "eef_pose_r": [
          451.9897917265002,
          -395.2645979275707,
          103.69162811839725,
          1.6910703678760237,
          0.019076711295214207,
          2.354862790910077
        ],
        "joint_status_l": {
          "velocity": [
            -0.016287957660399144,
            -1.4408167574226916,
            0.5009587302332585,
            2.024861138549383,
            0.4726375274340944,
            -2.173966113277359,
            -2.0193347550372387
          ],
          "torque": [
            -26.98974609375,
            1.38427734375,
            -9.271240234375,
            0.030517578125,
            -1.475830078125,
            -2.92236328125,
            -0.7159423828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.43927243803709715,
            -0.7631664983911435,
            -0.6699905453635413,
            1.6903279914135538,
            1.089710680004824,
            1.7187536056759711,
            -3.8019777975601965
          ],
          "torque": [
            27.88330078125,
            6.93603515625,
            10.504150390625,
            0.006103515625,
            1.8218994140625,
            2.2283935546875,
            -0.63995361328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -17.0,
            -9.2,
            1.5,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.1,
            -17.0,
            -9.2,
            1.5,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.3,
            1.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.3,
            1.1,
            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": 700,
          "motor_current": -232,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35051569642746816,
          -0.3116926704467621,
          -0.12162114489561968,
          -1.4929131206396675,
          -0.06591255459149112,
          -0.5321966581061032,
          0.2961467894776458
        ],
        "act_joint_pos_r": [
          -0.4802757966347757,
          -0.2909693118623191,
          0.2723180446665703,
          -1.302200068140454,
          -0.008734797476793954,
          0.769643950616359,
          -0.250561865132702
        ],
        "act_eef_pose_l": [
          460.93028750798237,
          344.7758907697837,
          112.05083144788779,
          1.6814252040644841,
          -0.04961735942487793,
          0.7979979703368895
        ],
        "act_eef_pose_r": [
          452.4790644042035,
          -395.07794812687865,
          104.1505433469199,
          1.6777573142360214,
          0.04711986390046764,
          2.3604275673801554
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.35491957653734824,
          -0.29929712858374863,
          -0.12581641905668572,
          -1.5081398790396428,
          -0.09462584705985162,
          -0.521431615417094,
          0.3377129589933258
        ],
        "joint_pos_r": [
          -0.4776705272649659,
          -0.28795617140916446,
          0.2748858128469578,
          -1.3078401566891553,
          -0.029852855304005135,
          0.7625868476115746,
          -0.20789933354881773
        ],
        "eef_pose_l": [
          458.7671474995863,
          346.8811599628489,
          115.39201078165404,
          1.6698821351038746,
          -0.06760740043881294,
          0.8082075528542567
        ],
        "eef_pose_r": [
          452.12173763908953,
          -395.2548384093738,
          103.7342265886259,
          1.6891716030830357,
          0.023820470370538808,
          2.3561441743662987
        ],
        "joint_status_l": {
          "velocity": [
            -0.47560502464660814,
            -1.3386790389775527,
            0.4530762466256055,
            1.6444414069898272,
            3.10094412912465,
            -1.162590321643897,
            -4.489013911305406
          ],
          "torque": [
            -30.17578125,
            3.58154296875,
            -9.3017578125,
            0.37841796875,
            -0.4266357421875,
            -2.68798828125,
            -0.70770263671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.281360793645824,
            -0.3254095714986249,
            -0.27731078463766323,
            0.609111598473433,
            2.2806829801899076,
            0.7621446462611203,
            -4.6074175225434555
          ],
          "torque": [
            21.20361328125,
            5.86669921875,
            11.04736328125,
            0.1220703125,
            4.4110107421875,
            1.8218994140625,
            -0.64361572265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.4,
            -8.2,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.4,
            -8.2,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.4,
            0.9,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.4,
            0.9,
            1.0,
            0.3,
            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": 700,
          "motor_current": -213,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34849830201145154,
          -0.3128781779208697,
          -0.12134393751720665,
          -1.4937501223079275,
          -0.05401031366323429,
          -0.522445333261491,
          0.28108577692236947
        ],
        "act_joint_pos_r": [
          -0.5128691406500345,
          -0.27318094824311073,
          0.2901906669355415,
          -1.3544199281659703,
          0.03869867832025875,
          0.6998478494076282,
          -0.30899696318718556
        ],
        "act_eef_pose_l": [
          462.09588750798235,
          345.2110907697837,
          111.22763144788775,
          1.6879035820849748,
          -0.046608281369618164,
          0.804266802386391
        ],
        "act_eef_pose_r": [
          451.2870644042035,
          -394.7667481268786,
          104.21614334692003,
          1.6652777684328761,
          0.06448714339733772,
          2.32008225210739
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.35391328502892255,
          -0.3016225406047041,
          -0.12504337845217803,
          -1.5055421097747625,
          -0.0882060130890988,
          -0.5222345984395295,
          0.3286641835980599
        ],
        "joint_pos_r": [
          -0.48223862995604255,
          -0.28624719985309405,
          0.27668414838477656,
          -1.3134237780210312,
          -0.020141357094530247,
          0.755038778262262,
          -0.22280651916531202
        ],
        "eef_pose_l": [
          459.2803171035905,
          346.5529266601218,
          114.71077340759146,
          1.6726221185155055,
          -0.06408684161292823,
          0.8070297952029729
        ],
        "eef_pose_r": [
          452.05858129479213,
          -395.15101059350417,
          103.87645217568704,
          1.6851523829125956,
          0.030344615800833846,
          2.352030714016821
        ],
        "joint_status_l": {
          "velocity": [
            -0.5848009181059766,
            -1.2155729787370895,
            0.3995278375332756,
            1.273497086630826,
            3.6930266179954208,
            -0.022758689539603694,
            -5.138316374433849
          ],
          "torque": [
            -31.171875,
            3.0029296875,
            -9.521484375,
            0.1220703125,
            -0.7269287109375,
            -1.8878173828125,
            -0.7745361328125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.3079975907770454,
            1.4111135553087628,
            1.4586609825766317,
            -4.427453634889389,
            6.3545364077640665,
            -5.960444522385977,
            -9.308293420922542
          ],
          "torque": [
            17.6513671875,
            14.33349609375,
            18.621826171875,
            -4.644775390625,
            4.9603271484375,
            0.018310546875,
            -0.765380859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.0,
            -16.5,
            -9.7,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            0.0,
            -16.5,
            -9.7,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.1,
            1.4,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.1,
            1.4,
            1.0,
            0.3,
            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": 700,
          "motor_current": -246,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34704241504033434,
          -0.314784772682462,
          -0.12075365837475689,
          -1.4911727843990485,
          -0.05623096596004513,
          -0.5186424928882055,
          0.282615767026527
        ],
        "act_joint_pos_r": [
          -0.5269646005585389,
          -0.2693628200466465,
          0.2944294462967053,
          -1.365608927536311,
          0.06186456981618971,
          0.6829571662398897,
          -0.3593659121571799
        ],
        "act_eef_pose_l": [
          463.44628750798233,
          345.8438907697837,
          111.47243144788791,
          1.687215486519926,
          -0.04731049439434626,
          0.8089257160499279
        ],
        "act_eef_pose_r": [
          450.8110644042035,
          -395.2555481268787,
          102.58654334692005,
          1.6610576646442565,
          0.09132828455843346,
          2.3097183098822045
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.35312590757715673,
          -0.3031784641573007,
          -0.12453460839662485,
          -1.5038702327017133,
          -0.08405672525904413,
          -0.5219869641632144,
          0.32277858607527066
        ],
        "joint_pos_r": [
          -0.48943069581156823,
          -0.28345580965097444,
          0.27960639266522813,
          -1.3220822989288767,
          -0.00681853875194802,
          0.7431519651633292,
          -0.24439329568500195
        ],
        "eef_pose_l": [
          459.7307991796593,
          346.4263337141484,
          114.28719929554796,
          1.6744942598306476,
          -0.061925272874236985,
          0.8069632508865276
        ],
        "eef_pose_r": [
          451.89988444474164,
          -395.0927859187384,
          103.83303595889134,
          1.680385108735632,
          0.040096425535421476,
          2.3454053482230015
        ],
        "joint_status_l": {
          "velocity": [
            -0.656997816862237,
            -1.2534443523519734,
            0.40833055929567763,
            1.3712839728299286,
            3.005093373800505,
            0.361192244905606,
            -4.337456530822514
          ],
          "torque": [
            -30.1025390625,
            3.7060546875,
            -9.942626953125,
            0.74462890625,
            -0.732421875,
            -1.1572265625,
            -0.58685302734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.053542159836887,
            1.5219979883362988,
            1.6008425778712976,
            -4.700737248768405,
            7.41755695621054,
            -6.500846551511508,
            -12.41667636870103
          ],
          "torque": [
            17.28515625,
            16.6259765625,
            19.12841796875,
            -4.583740234375,
            4.8870849609375,
            -0.0201416015625,
            -0.81573486328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -16.9,
            -8.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.7,
            -16.9,
            -8.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.3,
            1.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.3,
            1.6,
            1.0,
            0.2,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 166,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 700,
          "motor_current": -211,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3429537735579948,
          -0.31978065941660044,
          -0.11917187689116254,
          -1.483802715892878,
          -0.05480046206774102,
          -0.5287571091121713,
          0.2911512720066081
        ],
        "act_joint_pos_r": [
          -0.5207870820599432,
          -0.2695947193743987,
          0.29357818484518833,
          -1.3577774162253329,
          0.033987795669223164,
          0.6926587299736787,
          -0.3130338349406878
        ],
        "act_eef_pose_l": [
          464.2950875079823,
          344.7078907697837,
          112.43083144788767,
          1.684266689954904,
          -0.05781618114187174,
          0.8003239412993844
        ],
        "act_eef_pose_r": [
          450.4654644042035,
          -396.21154812687865,
          101.55134334692002,
          1.6733782137198387,
          0.06984479548826394,
          2.3148492799255154
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.35187077564873526,
          -0.3054499106496324,
          -0.12379665362886808,
          -1.5013016207178567,
          -0.07907408818687323,
          -0.5218397343034341,
          0.31605222902206764
        ],
        "joint_pos_r": [
          -0.4958289069022769,
          -0.2808178802357833,
          0.28231244068093936,
          -1.3294267158151019,
          0.0030194215730260858,
          0.7328676680423886,
          -0.260899140871883
        ],
        "eef_pose_l": [
          460.4234939669307,
          346.2718690103695,
          113.82858886803677,
          1.6766050123660947,
          -0.059792525952521165,
          0.8068857484085388
        ],
        "eef_pose_r": [
          451.68160549270004,
          -395.2044406930022,
          103.53828502637096,
          1.6776809499568544,
          0.04753230509244329,
          2.3393808025243747
        ],
        "joint_status_l": {
          "velocity": [
            -0.9630078234024175,
            -1.5476752205918487,
            0.49946115685284287,
            1.889825983660387,
            2.6214743046145683,
            -0.7470544461503081,
            -2.689224043246341
          ],
          "torque": [
            -30.95947265625,
            3.42041015625,
            -10.308837890625,
            0.323486328125,
            -0.5511474609375,
            -0.78369140625,
            -0.582275390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.6954034203532373,
            1.2120656250651507,
            1.2166644861379972,
            -3.061785341772705,
            3.344485762054452,
            -4.342437238080699,
            -5.63038090022272
          ],
          "torque": [
            17.6806640625,
            17.43896484375,
            19.27490234375,
            -4.87060546875,
            4.6673583984375,
            0.0860595703125,
            -0.91827392578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -16.9,
            -8.5,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.1,
            -16.9,
            -8.5,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.8,
            -16.6,
            1.4,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.6,
            1.4,
            1.0,
            0.3,
            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": 700,
          "motor_current": -249,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3408446766578067,
          -0.3214475972690088,
          -0.11863623256418665,
          -1.4802088330122523,
          -0.047463258418457804,
          -0.5373571131418172,
          0.2851610417461402
        ],
        "act_joint_pos_r": [
          -0.5220819255664182,
          -0.26804183701777606,
          0.2949936984976933,
          -1.3584367382593001,
          0.033001324423439726,
          0.6860083859930988,
          -0.29656759056893744
        ],
        "act_eef_pose_l": [
          463.9974875079823,
          343.9278907697837,
          112.58123144788789,
          1.6851768489583507,
          -0.0584059788698953,
          0.7929414886735315
        ],
        "act_eef_pose_r": [
          450.9438644042035,
          -397.6867481268787,
          101.25614334692,
          1.675596855320747,
          0.05515875525498634,
          2.3061980811773384
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.34989656678357794,
          -0.3084747626391358,
          -0.12282068032579839,
          -1.49747420561663,
          -0.0735628860889765,
          -0.5239693270638791,
          0.31053056662648804
        ],
        "joint_pos_r": [
          -0.4980106457673541,
          -0.2798081753731435,
          0.2833217518832739,
          -1.331881083277374,
          0.005650076213586675,
          0.7292181721332914,
          -0.26489118898871344
        ],
        "eef_pose_l": [
          461.17753110062597,
          345.8907766141572,
          113.56432735743093,
          1.678164666101678,
          -0.05945500902106574,
          0.8049158726233849
        ],
        "eef_pose_r": [
          451.5997603302991,
          -395.32959870235555,
          103.37058930090551,
          1.6772733030826559,
          0.04904595268782275,
          2.337025499537994
        ],
        "joint_status_l": {
          "velocity": [
            -0.9775753015413002,
            -1.4010248190077235,
            0.45190702996866783,
            1.8646052476825048,
            2.818676655991892,
            -1.4458382536974845,
            -2.7398278801742393
          ],
          "torque": [
            -29.70703125,
            3.06884765625,
            -10.430908203125,
            -0.146484375,
            -0.5841064453125,
            -2.750244140625,
            -0.60699462890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.599621546559572,
            1.270727064288213,
            1.2605330569219753,
            -2.8679261530868416,
            2.953847687583444,
            -4.666519271512293,
            -3.42095047512303
          ],
          "torque": [
            16.9921875,
            16.85302734375,
            19.23828125,
            -4.364013671875,
            4.541015625,
            0.1043701171875,
            -0.80474853515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -17.0,
            -8.6,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.1,
            -17.0,
            -8.6,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.4,
            0.8,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.4,
            0.8,
            1.0,
            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": 700,
          "motor_current": -238,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3394903782063671,
          -0.3252550336592274,
          -0.11741682332212353,
          -1.4720614038984776,
          -0.04181324376949876,
          -0.5499025778380312,
          0.29155673479402056
        ],
        "act_joint_pos_r": [
          -0.5376757485697468,
          -0.2640163889571402,
          0.29929057817239146,
          -1.3676252428382851,
          0.07855301879218368,
          0.6366057198943036,
          -0.30383280255812817
        ],
        "act_eef_pose_l": [
          464.13828750798234,
          343.26629076978367,
          112.08683144788785,
          1.6860438704038043,
          -0.06867898842451597,
          0.7830176961342319
        ],
        "act_eef_pose_r": [
          455.1110644042035,
          -404.40834812687865,
          99.72414334692007,
          1.6685743252374134,
          0.02435198259739348,
          2.253226336213564
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3482366535525354,
          -0.3109356413428196,
          -0.1220272943834196,
          -1.4940638147703686,
          -0.06870017824066084,
          -0.5268872318330182,
          0.306325835981318
        ],
        "joint_pos_r": [
          -0.5025610101898637,
          -0.2775839011391844,
          0.28552818257823587,
          -1.3369010867277469,
          0.010820476283888847,
          0.721049920374436,
          -0.2708792034186473
        ],
        "eef_pose_l": [
          461.6854205063463,
          345.51370325669535,
          113.37697752656165,
          1.6793690164276724,
          -0.05973910096825007,
          0.8023572079705042
        ],
        "eef_pose_r": [
          451.4930867278325,
          -395.7662076832845,
          102.99160699153954,
          1.6767730873327986,
          0.05024715727514237,
          2.3311929534588764
        ],
        "joint_status_l": {
          "velocity": [
            -0.9445698787868828,
            -1.5464487601035692,
            0.4979161893670092,
            2.376190292178393,
            2.9037032827350373,
            -2.485584060158086,
            -1.5950158857491736
          ],
          "torque": [
            -29.08447265625,
            4.66552734375,
            -10.711669921875,
            0.6103515625,
            -0.5804443359375,
            -2.2320556640625,
            -0.61798095703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.1081966827303233,
            1.0305125317697783,
            1.0222455697794786,
            -2.3257817701409778,
            2.3954609487273624,
            -3.784374099037535,
            -2.774263989688608
          ],
          "torque": [
            17.42431640625,
            15.57861328125,
            19.451904296875,
            -4.58984375,
            4.691162109375,
            0.281982421875,
            -0.5621337890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -16.9,
            -8.5,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -16.9,
            -8.5,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.4,
            0.8,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.4,
            0.8,
            1.0,
            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": 700,
          "motor_current": -280,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3435622282997052,
          -0.3255900363591236,
          -0.11736753691399941,
          -1.4724541715464867,
          -0.056940008036095,
          -0.546871477918935,
          0.3114049476604562
        ],
        "act_joint_pos_r": [
          -0.5532259978805198,
          -0.2630593640163299,
          0.30055102601181133,
          -1.3712557316103593,
          0.15992824666988212,
          0.5850453555254611,
          -0.3778751362377833
        ],
        "act_eef_pose_l": [
          464.4494875079823,
          343.5358907697837,
          111.59803144788776,
          1.6818788065231975,
          -0.07313358483354226,
          0.7865460686632099
        ],
        "act_eef_pose_r": [
          460.9566644042035,
          -413.4027481268787,
          99.17374334691999,
          1.650886923621193,
          0.028273873775174905,
          2.192754190859973
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3467507266708544,
          -0.31347240681788874,
          -0.12121139218039133,
          -1.4901794381944902,
          -0.06417105322910317,
          -0.5309115109143876,
          0.30400938381095155
        ],
        "joint_pos_r": [
          -0.5103122731145436,
          -0.27471422216822305,
          0.28844508887966247,
          -1.343441874065677,
          0.027103388757056913,
          0.7021331598464995,
          -0.27999400635092236
        ],
        "eef_pose_l": [
          462.1294020403023,
          345.1193566314977,
          113.15285585000854,
          1.6803999262179092,
          -0.06141220508056269,
          0.798998214896952
        ],
        "eef_pose_r": [
          452.50084818109235,
          -397.6867215712662,
          102.50967242424443,
          1.673367462209313,
          0.04563425847575927,
          2.3134390923075374
        ],
        "joint_status_l": {
          "velocity": [
            -0.3443476680926594,
            -1.3086653934308856,
            0.41512412533872833,
            1.914272339540446,
            0.7809298485501603,
            -1.723625600870804,
            0.798697339427612
          ],
          "torque": [
            -30.15380859375,
            4.7314453125,
            -10.85205078125,
            0.35400390625,
            -0.87890625,
            -2.5689697265625,
            -0.53009033203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.634545586109429,
            1.2586875573992184,
            1.3074026504922287,
            -3.003808022244314,
            14.344661581406736,
            -12.645109919091624,
            -10.570850257217934
          ],
          "torque": [
            17.77587890625,
            15.615234375,
            19.970703125,
            -5.50537109375,
            4.8504638671875,
            0.2288818359375,
            -0.736083984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -17.0,
            -8.0,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.3,
            -17.0,
            -8.0,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -18.1,
            0.5,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -18.1,
            0.5,
            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": 700,
          "motor_current": -240,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34967983521255463,
          -0.3248386364236448,
          -0.117642171359142,
          -1.4741861436777044,
          -0.07594583528022288,
          -0.5372836438932325,
          0.3383230219661199
        ],
        "act_joint_pos_r": [
          -0.5742283002793451,
          -0.2595520366507679,
          0.30422766539517815,
          -1.3765870946763064,
          0.26328010974011207,
          0.545055456707562,
          -0.47453504437477645
        ],
        "act_eef_pose_l": [
          465.17428750798234,
          344.8454907697837,
          110.44603144788772,
          1.6787754197138909,
          -0.08081224912953827,
          0.7963039208187299
        ],
        "act_eef_pose_r": [
          464.5766644042035,
          -422.54594812687867,
          98.85054334691995,
          1.629185911686408,
          0.03184423009327981,
          2.13634968976298
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3462265524087874,
          -0.31546448860166837,
          -0.12057948030112413,
          -1.487265487022607,
          -0.062982303122685,
          -0.5335352550576861,
          0.3052251800172345
        ],
        "joint_pos_r": [
          -0.5173670893300025,
          -0.2727982178426315,
          0.29043524848591806,
          -1.3480143425309703,
          0.04893917594471265,
          0.6828844708766819,
          -0.29608520761762736
        ],
        "eef_pose_l": [
          462.5137674212084,
          344.8611990056579,
          112.89850584272364,
          1.6806263333267952,
          -0.06334116962680457,
          0.7969576809048223
        ],
        "eef_pose_r": [
          454.06671765854526,
          -400.0897321066812,
          102.34165596554685,
          1.6676348114008435,
          0.043514189487237,
          2.2936856848487275
        ],
        "joint_status_l": {
          "velocity": [
            -0.28773851738694844,
            -1.0935269059531016,
            0.3468796551409081,
            1.5995748944810373,
            0.6525486234588707,
            -1.4402695905335605,
            0.6673952216980084
          ],
          "torque": [
            -29.97802734375,
            3.15673828125,
            -10.809326171875,
            -0.4638671875,
            -0.9375,
            -2.772216796875,
            0.32501220703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.8726479058110996,
            1.0517651930843641,
            1.0924717520643945,
            -2.50999599219881,
            11.98646611639731,
            -10.56631282119369,
            -8.833051774040257
          ],
          "torque": [
            17.51953125,
            16.44287109375,
            20.001220703125,
            -5.316162109375,
            4.6527099609375,
            -0.2435302734375,
            -1.06201171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            0.2,
            -17.1,
            -8.6,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            0.2,
            -17.1,
            -8.6,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.4,
            1.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.4,
            1.5,
            1.0,
            0.2,
            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": 700,
          "motor_current": -284,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3466526788753654,
          -0.32232890991324664,
          -0.1184146626544441,
          -1.477421822991266,
          -0.05640519178883575,
          -0.5253426037260525,
          0.34385329236585876
        ],
        "act_joint_pos_r": [
          -0.6044425920022416,
          -0.25486505828239464,
          0.3095896059328183,
          -1.3871427140715988,
          0.4037896449205119,
          0.5210185385377463,
          -0.601603595568615
        ],
        "act_eef_pose_l": [
          465.77668750798233,
          346.3854907697837,
          109.93243144788772,
          1.6887074582549058,
          -0.1065508440414519,
          0.801266775704284
        ],
        "act_eef_pose_r": [
          465.6758644042035,
          -430.14114812687865,
          98.43694334692009,
          1.598502794559363,
          0.026481347355618207,
          2.085491745671287
        ],
        "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": [
          0.3463184056240865,
          -0.3164323552236661,
          -0.12027454040338836,
          -1.4858849567161276,
          -0.06307483747932757,
          -0.5336923994692317,
          0.3084772210326055
        ],
        "joint_pos_r": [
          -0.5294554436239834,
          -0.2701986093777811,
          0.2931896574305711,
          -1.3536943100467318,
          0.09684937596005229,
          0.6583390695138085,
          -0.3368424887704518
        ],
        "eef_pose_l": [
          462.82213260803434,
          344.8919171456706,
          112.63041761811098,
          1.6809305665946028,
          -0.06623252740910088,
          0.796849996110949
        ],
        "eef_pose_r": [
          456.22623575129535,
          -403.8116082170318,
          102.97595320787619,
          1.6519593797816179,
          0.04322851231835012,
          2.2646421117372495
        ],
        "joint_status_l": {
          "velocity": [
            0.036100446412223874,
            -0.6368091247930252,
            0.2008608728112371,
            0.9139914855467168,
            0.7203004904457466,
            0.9017513445290781,
            3.8205030242774995
          ],
          "torque": [
            -21.64306640625,
            3.31787109375,
            -10.791015625,
            0.439453125,
            -3.42041015625,
            -2.442626953125,
            0.648193359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -8.098373176101958,
            1.6559746779394313,
            1.7711422011958966,
            -3.6123210949678963,
            33.148571382876746,
            -14.830179952637579,
            -28.59335621823833
          ],
          "torque": [
            16.25244140625,
            20.00244140625,
            18.701171875,
            -4.7119140625,
            4.910888671875,
            0.018310546875,
            -0.79193115234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.3,
            -17.0,
            -8.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.3,
            -17.0,
            -8.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.4,
            -14.8,
            1.5,
            0.8,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -14.8,
            1.5,
            0.8,
            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": 700,
          "motor_current": -206,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.343414925122942,
          -0.32315164595090934,
          -0.11779312876666728,
          -1.464697326627344,
          -0.03754448511701479,
          -0.5286864826773093,
          0.3402388247418998
        ],
        "act_joint_pos_r": [
          -0.6230307482940157,
          -0.25859061941698824,
          0.3047718022249051,
          -1.3719777200593484,
          0.5350716836907004,
          0.5142484249458935,
          -0.7082618622525818
        ],
        "act_eef_pose_l": [
          467.57348750798235,
          350.0974907697837,
          108.71403144788775,
          1.697833505627453,
          -0.12192138733300215,
          0.8048660990891998
        ],
        "act_eef_pose_r": [
          469.3854644042035,
          -442.15794812687864,
          96.12814334691984,
          1.5735091730731503,
          0.011394685199515217,
          2.0302985200022903
        ],
        "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": [
          0.34610754539659233,
          -0.31768871995923254,
          -0.11984716760379575,
          -1.4830903008628327,
          -0.06011380984837348,
          -0.5323005802897495,
          0.31528035455407233
        ],
        "joint_pos_r": [
          -0.5482457084245272,
          -0.2674988186736512,
          0.29595074269283134,
          -1.3585152478150107,
          0.18214093269853887,
          0.6280686980687352,
          -0.4094141348873008
        ],
        "eef_pose_l": [
          463.5743590155586,
          345.5062942515091,
          111.98045586100244,
          1.6832568117416928,
          -0.07565919150149744,
          0.7981268300387642
        ],
        "eef_pose_r": [
          459.3690265722334,
          -410.1310911223346,
          103.83245376895553,
          1.6254622284024511,
          0.040522490557723334,
          2.220662517741407
        ],
        "joint_status_l": {
          "velocity": [
            -0.290794413031481,
            -0.5899786066119184,
            0.22182965189410098,
            1.9863826322090716,
            2.437415183268621,
            0.3903110305354396,
            2.6954352826709105
          ],
          "torque": [
            -26.91650390625,
            4.0283203125,
            -9.9853515625,
            1.2451171875,
            -0.5255126953125,
            -0.3717041015625,
            0.56396484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -8.076546100910242,
            0.9620571453607951,
            0.9526463326623436,
            -1.453904121778038,
            38.11539695361077,
            -12.2922269574115,
            -32.274602666926725
          ],
          "torque": [
            16.07666015625,
            18.369140625,
            18.402099609375,
            -4.986572265625,
            4.866943359375,
            0.9393310546875,
            -1.03546142578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.2,
            -9.7,
            1.3,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.3,
            -16.2,
            -9.7,
            1.3,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.1,
            0.9,
            0.8,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.1,
            0.9,
            0.8,
            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": 0,
          "position": 684,
          "motor_current": 1186,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34490440608432216,
          -0.3272294910558062,
          -0.11607984060610314,
          -1.4437768572567977,
          -0.03770897402330423,
          -0.5388603731715881,
          0.34831592873511064
        ],
        "act_joint_pos_r": [
          -0.6339590626733926,
          -0.25952473365092543,
          0.30403606549459616,
          -1.3717397908005209,
          0.5912240722720496,
          0.5087572614611304,
          -0.7648391074274047
        ],
        "act_eef_pose_l": [
          470.1062875079823,
          354.4774907697837,
          106.42603144788774,
          1.7012495996233241,
          -0.1287475667448633,
          0.8099084880099567
        ],
        "act_eef_pose_r": [
          470.1094644042035,
          -445.87634812687867,
          93.99454334691995,
          1.5669176219595844,
          0.013638677746065447,
          2.008541197147896
        ],
        "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": [
          0.3456940276453279,
          -0.31913745669865284,
          -0.119286985845125,
          -1.4775949938705477,
          -0.05558960495259597,
          -0.5324476360730035,
          0.32099281487580933
        ],
        "joint_pos_r": [
          -0.5649426546749783,
          -0.26584931546724316,
          0.29761283621717505,
          -1.3611862203275642,
          0.2616333489191667,
          0.6043477201805604,
          -0.4780958065621123
        ],
        "eef_pose_l": [
          464.6092296008187,
          346.79695466031376,
          111.12547528039353,
          1.6864386833395968,
          -0.08555635722084352,
          0.8000242182388001
        ],
        "eef_pose_r": [
          461.9936856476069,
          -416.26733759809485,
          103.8060799914317,
          1.6044678457101027,
          0.03717660709253069,
          2.1811133200290627
        ],
        "joint_status_l": {
          "velocity": [
            -0.085276613489782,
            -0.8739139358584502,
            0.34636147042887977,
            3.652251036900367,
            1.9310511870531122,
            -0.692555180823895,
            2.950809267337373
          ],
          "torque": [
            -29.970703125,
            4.13818359375,
            -10.5712890625,
            0.89111328125,
            -0.71044921875,
            -1.5472412109375,
            0.50994873046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -7.4535522330565485,
            0.6830346911310681,
            0.6936883027184315,
            -1.139751995891558,
            35.59474831112652,
            -10.323465067371806,
            -30.967363159896344
          ],
          "torque": [
            16.48681640625,
            19.189453125,
            18.6767578125,
            -5.06591796875,
            4.991455078125,
            0.9649658203125,
            -0.97137451171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.6,
            -15.8,
            -8.9,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -1.6,
            -15.8,
            -8.9,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.1,
            1.0,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.1,
            1.0,
            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": 0,
          "position": 604,
          "motor_current": 1423,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3471420393080834,
          -0.3269201301133357,
          -0.11585899785695712,
          -1.4343595481692353,
          -0.03507079408844581,
          -0.5295990885345244,
          0.3568569475830341
        ],
        "act_joint_pos_r": [
          -0.6579936096162508,
          -0.2574225886454535,
          0.3059064219460295,
          -1.371679349183716,
          0.6931318601956513,
          0.4914664452268979,
          -0.8573891992169155
        ],
        "act_eef_pose_l": [
          472.5350875079823,
          359.56949076978367,
          104.1060314478878,
          1.708500359356977,
          -0.14038368826911896,
          0.8255973900294364
        ],
        "act_eef_pose_r": [
          470.63426440420346,
          -455.69234812687864,
          88.1153433469201,
          1.565995106273361,
          0.00841976132363066,
          1.959424105322965
        ],
        "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": [
          0.34565266330618677,
          -0.32055461334296864,
          -0.1187102390984506,
          -1.471202178779001,
          -0.052312324952845185,
          -0.533174828213846,
          0.3261987802104586
        ],
        "joint_pos_r": [
          -0.568953183320931,
          -0.26548179537624383,
          0.2979860886909521,
          -1.3617994860411298,
          0.28078579506613827,
          0.5987929791545876,
          -0.4947583981907834
        ],
        "eef_pose_l": [
          465.7098247468437,
          348.3682744123796,
          110.19242182445599,
          1.6893295332720442,
          -0.09370598009309218,
          0.8025674543279658
        ],
        "eef_pose_r": [
          462.58973187101685,
          -417.80225289141094,
          103.66905254887423,
          1.60004969767259,
          0.03626522085991761,
          2.1714961304992375
        ],
        "joint_status_l": {
          "velocity": [
            0.160847864250524,
            -0.6874555357820888,
            0.3079249723197952,
            3.9788867548633533,
            1.8620304157035972,
            0.38616849593564595,
            3.310984423972485
          ],
          "torque": [
            -29.1064453125,
            4.5556640625,
            -10.205078125,
            -0.177001953125,
            -0.919189453125,
            -2.3272705078125,
            0.6610107421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -7.020427913612792,
            0.6433436919266455,
            0.6533782244324549,
            -1.0735212521968407,
            33.5263451315444,
            -9.723570729504694,
            -29.167856337616538
          ],
          "torque": [
            16.97021484375,
            19.19677734375,
            19.598388671875,
            -4.5654296875,
            4.8284912109375,
            0.9722900390625,
            -0.574951171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.2,
            -16.3,
            -9.1,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.2,
            -16.3,
            -9.1,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.4,
            -0.7,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.4,
            -0.7,
            1.0,
            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": 0,
          "position": 563,
          "motor_current": 2442,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34986561864063864,
          -0.32655259879118703,
          -0.11580384032317509,
          -1.42961800271669,
          -0.04184977873435534,
          -0.5198604374165099,
          0.36195440123249717
        ],
        "act_joint_pos_r": [
          -0.6751456043142213,
          -0.25838817898698774,
          0.3041088167738048,
          -1.3628732514629032,
          0.7717994696785095,
          0.4852052801182163,
          -0.9308553513676633
        ],
        "act_eef_pose_l": [
          474.35428750798235,
          363.0990907697837,
          102.79403144788768,
          1.7103568829995748,
          -0.13999837874491716,
          0.8405315641586489
        ],
        "act_eef_pose_r": [
          471.3302644042035,
          -464.91154812687864,
          82.36734334692005,
          1.5668114268477562,
          0.007942573224712337,
          1.9197426518584082
        ],
        "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": [
          0.3459379690784605,
          -0.3215956148635998,
          -0.11824068895968855,
          -1.465074985544318,
          -0.04957860083024277,
          -0.5324423237200768,
          0.33131456361718975
        ],
        "joint_pos_r": [
          -0.5843979367217664,
          -0.2640829539471197,
          0.2993632533297643,
          -1.3635470791706603,
          0.3524270573949754,
          0.5800313777874552,
          -0.5577257416140766
        ],
        "eef_pose_l": [
          466.88854521152405,
          350.2459283811836,
          109.16894298165768,
          1.6924773827661252,
          -0.10135398972108448,
          0.8066901491396414
        ],
        "eef_pose_r": [
          464.524975140539,
          -423.72279538918855,
          102.64841027925871,
          1.5854437839119815,
          0.03272837352859577,
          2.1360535374424123
        ],
        "joint_status_l": {
          "velocity": [
            0.4241736423820086,
            -0.5353384752151413,
            0.2631718909035241,
            3.829241207952805,
            0.834688168544262,
            1.3588036450138397,
            3.309004868571108
          ],
          "torque": [
            -21.4453125,
            3.486328125,
            -10.400390625,
            -0.201416015625,
            -0.992431640625,
            -0.6939697265625,
            0.67840576171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -7.948098255976532,
            0.7192982380126445,
            0.706641369283556,
            -0.8782592585365734,
            36.7950334909688,
            -9.56473061989005,
            -32.362698934322424
          ],
          "torque": [
            16.494140625,
            19.70947265625,
            19.05517578125,
            -4.791259765625,
            4.573974609375,
            1.13525390625,
            -0.7928466796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.4,
            -17.1,
            -8.5,
            1.5,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -17.1,
            -8.5,
            1.5,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.2,
            0.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.2,
            0.0,
            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": 394,
          "motor_current": 2369,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3493613906121255,
          -0.33094182397406546,
          -0.114259580637762,
          -1.4152170792032095,
          -0.023628186814263184,
          -0.5196040635035306,
          0.35498437219859214
        ],
        "act_joint_pos_r": [
          -0.6816614322023405,
          -0.2595818566927649,
          0.3004062579751174,
          -1.3380950868071828,
          0.7863476633213673,
          0.4863190867914229,
          -0.9374658567380239
        ],
        "act_eef_pose_l": [
          476.7806875079823,
          366.3710907697837,
          99.61723144788772,
          1.7222676054534523,
          -0.1491229915008747,
          0.8455878211614833
        ],
        "act_eef_pose_r": [
          472.11986440420355,
          -475.2187481268786,
          77.15214334691996,
          1.5762285386230501,
          0.006491940381377235,
          1.8936795036643657
        ],
        "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": [
          0.34655435576672167,
          -0.3226655768361781,
          -0.11775034580988386,
          -1.4584091883551866,
          -0.04724916572948812,
          -0.5303590224566954,
          0.33594658313642567
        ],
        "joint_pos_r": [
          -0.6023951970640163,
          -0.2629717633432644,
          0.30016830764518937,
          -1.3622948140777962,
          0.43471535377267395,
          0.5612577954787696,
          -0.6304449236772315
        ],
        "eef_pose_l": [
          468.301305440566,
          352.523585810783,
          107.93078047949254,
          1.6960874273309516,
          -0.10818481125050064,
          0.8126679776014195
        ],
        "eef_pose_r": [
          466.61054535285183,
          -431.6046719240189,
          100.22296687992711,
          1.5731264968443106,
          0.028250225736275968,
          2.093885563941956
        ],
        "joint_status_l": {
          "velocity": [
            0.3031508223476642,
            -0.893808329423873,
            0.3769915198186258,
            4.664610213090725,
            2.550990485401694,
            1.1615013102921345,
            2.0560205796282816
          ],
          "torque": [
            -19.86328125,
            1.39892578125,
            -10.064697265625,
            1.458740234375,
            -0.2142333984375,
            -0.450439453125,
            0.699462890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -8.560500916460434,
            0.36609912073770623,
            0.025697877713337647,
            2.6134934643575747,
            37.97516941350621,
            -8.093141843774632,
            -33.15728284878183
          ],
          "torque": [
            16.259765625,
            17.01416015625,
            14.9658203125,
            2.13623046875,
            4.92919921875,
            1.5765380859375,
            -1.19659423828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.1,
            -17.1,
            -7.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.1,
            -17.1,
            -7.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -17.6,
            -0.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -17.6,
            -0.4,
            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": 0,
          "position": 158,
          "motor_current": 2967,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34735709239448853,
          -0.33376432560945973,
          -0.11338114942446843,
          -1.4087324296811128,
          -0.009421858783481292,
          -0.5191784533397188,
          0.347397393949396
        ],
        "act_joint_pos_r": [
          -0.6981984350469275,
          -0.2601919005402621,
          0.29862495749155704,
          -1.3265221615076155,
          0.8817236148177737,
          0.4763985386158164,
          -1.022519311565851
        ],
        "act_eef_pose_l": [
          478.0638875079824,
          367.45989076978367,
          98.32283144788795,
          1.7293164391914977,
          -0.1547540207366201,
          0.8463851379928138
        ],
        "act_eef_pose_r": [
          472.7558644042035,
          -487.75474812687867,
          71.24254334692,
          1.5792147125709763,
          0.005933312987015871,
          1.8417616593088457
        ],
        "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": [
          0.34681200332213896,
          -0.3236827266963346,
          -0.11733053332687339,
          -1.4533440383521912,
          -0.044164767225237656,
          -0.5291328514016699,
          0.3378711231833991
        ],
        "joint_pos_r": [
          -0.6173710955101276,
          -0.2624078488655187,
          0.3001068682754399,
          -1.357343598645996,
          0.5024291783257578,
          0.5474315208504219,
          -0.6896712437556589
        ],
        "eef_pose_l": [
          469.3287589318573,
          354.09779095093387,
          106.94775603120718,
          1.6992386083106594,
          -0.11293451412866104,
          0.8165035991369508
        ],
        "eef_pose_r": [
          468.3324116972947,
          -439.56128229372507,
          97.10579752410007,
          1.566999758078797,
          0.024062426511585154,
          2.056346914069852
        ],
        "joint_status_l": {
          "velocity": [
            0.058867883597990556,
            -1.0887805707509024,
            0.42652088189887305,
            4.817911639769079,
            3.7521234487439825,
            1.0750432839841118,
            1.0288068996899824
          ],
          "torque": [
            -19.5263671875,
            4.05029296875,
            -11.02294921875,
            1.214599609375,
            -0.8203125,
            -0.3717041015625,
            0.648193359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -8.729095219072391,
            0.2393153608986065,
            -0.16004164448357727,
            3.328617038633297,
            40.96259101409494,
            -7.6713358273816645,
            -35.94653113723645
          ],
          "torque": [
            14.04052734375,
            16.53076171875,
            12.408447265625,
            1.5380859375,
            8.411865234375,
            1.3787841796875,
            -0.7342529296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.5,
            -17.0,
            -7.9,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -17.0,
            -7.9,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.8,
            0.3,
            1.2,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.8,
            0.3,
            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": 0,
          "position": 24,
          "motor_current": -59,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3455378814839708,
          -0.3358986041990632,
          -0.11264164893100839,
          -1.401098416546328,
          0.0008266697699251715,
          -0.5250725744802736,
          0.34204711271265864
        ],
        "act_joint_pos_r": [
          -0.7059195241392011,
          -0.2588622814396575,
          0.2992499775885056,
          -1.3221229824274543,
          0.9115603097576557,
          0.47454197983143415,
          -1.051422585937201
        ],
        "act_eef_pose_l": [
          478.74068750798233,
          368.37589076978367,
          97.5884314478879,
          1.733607015486178,
          -0.15861612118573035,
          0.8438253897811779
        ],
        "act_eef_pose_r": [
          472.25266440420353,
          -492.6803481268787,
          68.94574334691993,
          1.5816135673062977,
          0.008904826640030037,
          1.824006697336658
        ],
        "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": [
          0.34679691292107584,
          -0.32598351001657755,
          -0.11643618427931525,
          -1.4432934749493591,
          -0.03602725356005592,
          -0.5274380174339132,
          0.3395139983336296
        ],
        "joint_pos_r": [
          -0.6346974563903339,
          -0.261777433425392,
          0.299895760406707,
          -1.350534390788378,
          0.5828467004772651,
          0.5328898474807784,
          -0.7606193900701552
        ],
        "eef_pose_l": [
          471.2882650624813,
          356.97280243383886,
          105.04480008918193,
          1.705927528535682,
          -0.1220798812278162,
          0.8228434649912301
        ],
        "eef_pose_r": [
          470.0420207865315,
          -449.44769243839886,
          93.0268995292921,
          1.562183113047305,
          0.020084894302160282,
          2.011526711363152
        ],
        "joint_status_l": {
          "velocity": [
            -0.135971384946032,
            -1.0707985901921013,
            0.4097977312791379,
            4.556931908004103,
            3.9801063326765362,
            0.25546030459411284,
            0.27356828446967185
          ],
          "torque": [
            -25.89111328125,
            4.2626953125,
            -11.480712890625,
            0.7080078125,
            -1.0345458984375,
            -0.24169921875,
            0.5419921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -7.6917564606464595,
            0.3148271291295579,
            -0.06974248742119826,
            3.068341607082914,
            35.50002278507769,
            -6.301383856746945,
            -31.40581888852445
          ],
          "torque": [
            17.48291015625,
            20.0537109375,
            12.786865234375,
            0.433349609375,
            3.90380859375,
            1.871337890625,
            -0.8770751953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.7,
            -17.2,
            -6.9,
            1.5,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -0.7,
            -17.2,
            -6.9,
            1.5,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.3,
            0.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.3,
            0.0,
            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": 351,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34510792334950385,
          -0.33678790041318796,
          -0.11225121528719895,
          -1.394801857187783,
          0.005581071078548536,
          -0.522083121673386,
          0.34593671999496683
        ],
        "act_joint_pos_r": [
          -0.7163965876303418,
          -0.2561422713546413,
          0.3003395138651602,
          -1.3113154486141967,
          0.947449260187275,
          0.46630249970230786,
          -1.0809960194253472
        ],
        "act_eef_pose_l": [
          480.1270875079823,
          370.81429076978367,
          96.6812314478878,
          1.7377531907010018,
          -0.16771298564640735,
          0.8495740520949899
        ],
        "act_eef_pose_r": [
          471.4486644042035,
          -502.0227481268787,
          64.54894334692017,
          1.5921497831408533,
          0.010154995570057869,
          1.7937802711495463
        ],
        "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": [
          0.34650681440446696,
          -0.32805365569443545,
          -0.11563963085621592,
          -1.4342679345447582,
          -0.02820818001899902,
          -0.5267056127650421,
          0.3403574295987066
        ],
        "joint_pos_r": [
          -0.6431943702881534,
          -0.2613290524128284,
          0.29987072653901625,
          -1.34685384265822,
          0.6215154424104613,
          0.5259439398720283,
          -0.7947329195648549
        ],
        "eef_pose_l": [
          472.94525250404826,
          359.44578099599835,
          103.45755253225266,
          1.711813663102796,
          -0.13019551612788877,
          0.8276857256559274
        ],
        "eef_pose_r": [
          470.78877256965166,
          -455.2314674687366,
          90.4490309965054,
          1.5614320842696028,
          0.018163810933541163,
          1.9863392765729286
        ],
        "joint_status_l": {
          "velocity": [
            -0.15107577819462037,
            -0.9432706093455145,
            0.36593808868690125,
            4.2622106473704235,
            3.649131493154767,
            0.4992143143596195,
            0.6025455916636169
          ],
          "torque": [
            -28.53515625,
            2.87841796875,
            -11.334228515625,
            0.164794921875,
            -0.5731201171875,
            0.1043701171875,
            0.63812255859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -7.905606309561719,
            0.56015583337099,
            0.050627538044079046,
            3.83803336001165,
            35.199814156871234,
            -6.441085568665628,
            -30.91550298091139
          ],
          "torque": [
            15.84228515625,
            20.3466796875,
            13.83056640625,
            -0.018310546875,
            4.0850830078125,
            2.2613525390625,
            -0.76629638671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.6,
            -16.3,
            -8.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.6,
            -16.3,
            -8.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.3,
            -1.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.3,
            -1.8,
            1.1,
            0.2,
            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": 307,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3436054610984814,
          -0.3376884932148795,
          -0.1116696971464789,
          -1.3828004766736033,
          0.015500021284463114,
          -0.5287215654504497,
          0.3522378777634683
        ],
        "act_joint_pos_r": [
          -0.7260441119833887,
          -0.2547112696413192,
          0.3017353037702097,
          -1.3127779600485303,
          1.0126662486340559,
          0.44758749339628606,
          -1.1384133560034204
        ],
        "act_eef_pose_l": [
          481.18948750798234,
          373.9302907697837,
          95.73483144788776,
          1.7434215043071668,
          -0.1834126627464543,
          0.8495635091812624
        ],
        "act_eef_pose_r": [
          471.1342644042035,
          -508.9227481268787,
          60.15454334691981,
          1.6038155174439879,
          0.00835780471967542,
          1.7597683149539616
        ],
        "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": [
          0.3462285012547161,
          -0.32941901330569373,
          -0.11509975340126968,
          -1.427750235294067,
          -0.022643628023727377,
          -0.526295414381007,
          0.3414810023568983
        ],
        "joint_pos_r": [
          -0.6533698324269671,
          -0.26060806476797066,
          0.2999358902439082,
          -1.341913834060136,
          0.6668218189515395,
          0.5176534913257165,
          -0.8345248745100661
        ],
        "eef_pose_l": [
          474.11167583413766,
          361.28657416909823,
          102.38009199541072,
          1.7159648768414286,
          -0.13657834852593273,
          0.8311129880724506
        ],
        "eef_pose_r": [
          471.3603804420589,
          -460.9776225357385,
          87.78366355330084,
          1.5620614122577787,
          0.016515905204342644,
          1.962099577709965
        ],
        "joint_status_l": {
          "velocity": [
            -0.2832799819771914,
            -0.8930774902795591,
            0.37043515011669914,
            4.854430757228911,
            4.1193926302933725,
            -0.2620165877331715,
            1.1617082811552493
          ],
          "torque": [
            -29.326171875,
            3.78662109375,
            -11.4013671875,
            0.494384765625,
            -0.8258056640625,
            0.1190185546875,
            0.54473876953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -6.806688809408712,
            0.4822914642133025,
            0.04359006547494104,
            3.304528166312437,
            30.3068698001141,
            -5.545743532366032,
            -26.61809859199593
          ],
          "torque": [
            17.2265625,
            21.17431640625,
            18.133544921875,
            -0.0732421875,
            3.5870361328125,
            2.8564453125,
            -0.77728271484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.6,
            -9.3,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.1,
            -16.6,
            -9.3,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.1,
            -0.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.1,
            -0.6,
            1.0,
            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": 381,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34323975118770633,
          -0.33971051954617254,
          -0.11089525759433852,
          -1.372770783773822,
          0.014078357415347116,
          -0.5320935524997678,
          0.3565276335556282
        ],
        "act_joint_pos_r": [
          -0.7330837178707118,
          -0.25347072006409344,
          0.3023959198974235,
          -1.3091754026733295,
          1.0614272243091936,
          0.4418652299834344,
          -1.1809909149385815
        ],
        "act_eef_pose_l": [
          482.59268750798236,
          376.27669076978367,
          95.22763144788775,
          1.7440689627655022,
          -0.18689639181826892,
          0.8535146474720928
        ],
        "act_eef_pose_r": [
          470.6694644042035,
          -515.3059481268787,
          57.8529433469198,
          1.607452474569211,
          0.00868046474349417,
          1.7339870881789128
        ],
        "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": [
          0.34572345796438786,
          -0.33110929803507283,
          -0.11440590067344028,
          -1.4186709612142197,
          -0.016059934717747377,
          -0.5271048828255286,
          0.3438669765165922
        ],
        "joint_pos_r": [
          -0.6674975574391206,
          -0.2594214052984236,
          0.3003066090417941,
          -1.336128438282339,
          0.7349174741898742,
          0.5042246942129076,
          -0.8943388440795388
        ],
        "eef_pose_l": [
          475.5659241501622,
          363.7608487803682,
          101.14246475874975,
          1.7208111022200194,
          -0.145275336046527,
          0.8349721798574047
        ],
        "eef_pose_r": [
          472.1342529522598,
          -470.2944807654706,
          83.51487160613752,
          1.5643787837116199,
          0.014052144735253444,
          1.9219026869161449
        ],
        "joint_status_l": {
          "velocity": [
            -0.2682324207894382,
            -0.9289045266238638,
            0.3791382704574353,
            4.957072962511688,
            3.2548395540129698,
            -0.538760434928065,
            1.3673106335443386
          ],
          "torque": [
            -30.3662109375,
            3.55224609375,
            -11.285400390625,
            1.141357421875,
            -0.6390380859375,
            -1.7047119140625,
            0.501708984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -7.0830964218489,
            0.6426550512101947,
            0.22563891754412424,
            2.910841995078073,
            35.262013015404214,
            -6.734623509680127,
            -30.957510609806782
          ],
          "torque": [
            16.904296875,
            21.0791015625,
            18.634033203125,
            1.06201171875,
            3.9495849609375,
            2.5213623046875,
            -1.4410400390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.7,
            -9.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.7,
            -9.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.7,
            -17.4,
            -1.6,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -17.4,
            -1.6,
            1.0,
            0.4,
            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": 282,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33976581802748423,
          -0.3388441621591889,
          -0.11119320931685284,
          -1.3755368486918016,
          0.029747145924573306,
          -0.5262950621136965,
          0.3534654994802088
        ],
        "act_joint_pos_r": [
          -0.7331298003959121,
          -0.25401370551858965,
          0.3015250886299497,
          -1.3057234753554086,
          1.0688418274188596,
          0.43831791127848707,
          -1.1925253441519925
        ],
        "act_eef_pose_l": [
          482.85028750798233,
          376.53349076978367,
          95.46363144788785,
          1.7500751676390254,
          -0.1998604948188571,
          0.8531326628719008
        ],
        "act_eef_pose_r": [
          470.8646644042035,
          -517.3083481268786,
          56.81214334691981,
          1.6108458117580646,
          0.014732810232361927,
          1.7273690949871996
        ],
        "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": [
          0.3450646714983598,
          -0.33246083285565226,
          -0.1138502501639412,
          -1.4113246242241198,
          -0.009975592997517452,
          -0.52750691555866,
          0.3457275442673973
        ],
        "joint_pos_r": [
          -0.6798984514796697,
          -0.2583280579114481,
          0.3006509624452735,
          -1.3308327244038798,
          0.7970707846320828,
          0.492230309314992,
          -0.9491969774662408
        ],
        "eef_pose_l": [
          476.77055511535775,
          365.8146483258601,
          100.18005299125907,
          1.7250087934092495,
          -0.15307286688541674,
          0.8381105692803531
        ],
        "eef_pose_r": [
          472.57745349495303,
          -478.87785065225415,
          79.44833967755216,
          1.5682021906566705,
          0.012527927024429127,
          1.8853578728715383
        ],
        "joint_status_l": {
          "velocity": [
            -0.5722592969688023,
            -0.689379232628351,
            0.2869519482902039,
            3.8649657664198145,
            4.289929278884968,
            0.13087631206554207,
            0.8356745160811307
          ],
          "torque": [
            -32.2119140625,
            3.2958984375,
            -11.73095703125,
            0.604248046875,
            -0.8734130859375,
            -0.6683349609375,
            0.54107666015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -5.748816130685341,
            0.46593631637170674,
            0.09440284368178453,
            2.7117189193610614,
            29.350406976989873,
            -5.8223672663992865,
            -26.27868855357196
          ],
          "torque": [
            16.1572265625,
            21.93603515625,
            18.280029296875,
            0.567626953125,
            4.130859375,
            2.8106689453125,
            -0.84686279296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.6,
            -10.3,
            1.4,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -16.6,
            -10.3,
            1.4,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.2,
            0.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.2,
            0.1,
            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": 190,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3399292390401325,
          -0.3440551942645356,
          -0.10941491776647234,
          -1.3559792857731634,
          0.027010709669697725,
          -0.5444302409656817,
          0.3627248640319474
        ],
        "act_joint_pos_r": [
          -0.7277840551534691,
          -0.2568084604814146,
          0.2966636980101098,
          -1.2841934550651668,
          1.063199319801111,
          0.42580312170928897,
          -1.1886825423046765
        ],
        "act_eef_pose_l": [
          484.1718875079823,
          378.63909076978365,
          94.23083144788785,
          1.7502420211182748,
          -0.20457643562960315,
          0.8483436344496417
        ],
        "act_eef_pose_r": [
          472.0446644042035,
          -525.3043481268786,
          53.4449433469199,
          1.6254633148828836,
          0.02410187591153604,
          1.7085049291498409
        ],
        "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": [
          0.34446673391237054,
          -0.3331811457564164,
          -0.1135504221730909,
          -1.4072862305928675,
          -0.005493166987721011,
          -0.5273701665944854,
          0.34660071698030037
        ],
        "joint_pos_r": [
          -0.6891525569836326,
          -0.25764766066290945,
          0.30066215428331844,
          -1.325758283933162,
          0.8449557938346478,
          0.482329086533288,
          -0.9921061552258723
        ],
        "eef_pose_l": [
          477.47074039857085,
          367.0091486829302,
          99.64158623287824,
          1.7278067519871612,
          -0.15836631238953197,
          0.8398763175320524
        ],
        "eef_pose_r": [
          472.82157756203134,
          -485.92676954220053,
          75.88122009734832,
          1.5733066815039263,
          0.01253116700669522,
          1.856189020206159
        ],
        "joint_status_l": {
          "velocity": [
            -0.5076839422302193,
            -0.6115877336831943,
            0.25457148028928955,
            3.428832117318592,
            3.805841547231424,
            0.11610785950688651,
            0.7413746443138969
          ],
          "torque": [
            -30.69580078125,
            2.10205078125,
            -11.70654296875,
            0.531005859375,
            -0.76904296875,
            -0.413818359375,
            0.59051513671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.172078753456709,
            0.09063094658467996,
            -0.43182054164070394,
            4.488869125626849,
            23.569605656017956,
            -6.104624154726679,
            -21.22962367023007
          ],
          "torque": [
            16.88232421875,
            22.1484375,
            18.9208984375,
            0.665283203125,
            3.409423828125,
            2.9681396484375,
            -0.6976318359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.9,
            -8.7,
            1.5,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.9,
            -8.7,
            1.5,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -18.1,
            1.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -18.1,
            1.0,
            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": 230,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.33717179492839866,
          -0.35279123200449386,
          -0.10647535280667988,
          -1.321338312895431,
          0.0521526624432356,
          -0.5846305602151397,
          0.3764045946343323
        ],
        "act_joint_pos_r": [
          -0.7215690072675817,
          -0.26206152176199726,
          0.29094297768857547,
          -1.2716855264512985,
          1.0642531391095007,
          0.41488979369405504,
          -1.1889696225188842
        ],
        "act_eef_pose_l": [
          484.9486875079823,
          381.34789076978365,
          90.69963144788773,
          1.7642236063538725,
          -0.23477199855458605,
          0.8230154080086138
        ],
        "act_eef_pose_r": [
          473.72306440420346,
          -528.7715481268787,
          50.586543346919825,
          1.6359485469799457,
          0.026568487874324375,
          1.6976417201908365
        ],
        "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": [
          0.3433155216869897,
          -0.3360552686560662,
          -0.11248779406605287,
          -1.3942296607045757,
          0.003235149611616909,
          -0.5340348403556467,
          0.3509063741705842
        ],
        "joint_pos_r": [
          -0.6964358036080596,
          -0.2582663400764578,
          0.298942297211935,
          -1.3150083224111435,
          0.8915911851652311,
          0.4686351715706542,
          -1.0340110956519708
        ],
        "eef_pose_l": [
          478.93414005730307,
          369.533086728631,
          98.29589819176802,
          1.7331609306976143,
          -0.17039380447136307,
          0.8397388832331547
        ],
        "eef_pose_r": [
          473.52457040252733,
          -494.9450940518851,
          71.07741583827416,
          1.5837914598492369,
          0.014566079077053179,
          1.8218720107795983
        ],
        "joint_status_l": {
          "velocity": [
            -0.6635029209554055,
            -1.8074307343103335,
            0.6493245052097141,
            7.872033390173172,
            5.282935573958834,
            -5.464176587551162,
            2.7537265932600086
          ],
          "torque": [
            -32.20458984375,
            2.81982421875,
            -11.383056640625,
            0.482177734375,
            -0.7122802734375,
            -2.032470703125,
            0.57586669921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.7143059410530412,
            -0.4098675336412505,
            -0.8639010291240368,
            4.67872397207536,
            18.64694106385212,
            -5.804329621121429,
            -16.735027328378393
          ],
          "torque": [
            16.2744140625,
            15.32958984375,
            10.8642578125,
            0.3662109375,
            3.2647705078125,
            3.03955078125,
            -0.75531005859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.9,
            -16.3,
            -9.4,
            1.4,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -16.3,
            -9.4,
            1.4,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.1,
            1.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.1,
            1.0,
            1.1,
            0.2,
            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": 221,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.34414574658209074,
          -0.35625047360445045,
          -0.10514911024427605,
          -1.3003867038670969,
          0.04412540331881782,
          -0.5952371385542512,
          0.38872828081855815
        ],
        "act_joint_pos_r": [
          -0.7169576591917517,
          -0.26734711103498054,
          0.28490066141133763,
          -1.254308695626182,
          1.0572217411734766,
          0.41389152913183225,
          -1.1816180907274227
        ],
        "act_eef_pose_l": [
          486.27748750798236,
          386.0510907697837,
          86.74203144788777,
          1.768093481725978,
          -0.23579504710902188,
          0.8282738675827581
        ],
        "act_eef_pose_r": [
          475.0054644042035,
          -532.8283481268786,
          48.27054334692002,
          1.6411255697383416,
          0.030256165950973666,
          1.6892589910358082
        ],
        "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": [
          0.34248537080409974,
          -0.33962162043322414,
          -0.11120172010530004,
          -1.3783548767276697,
          0.01260522095001554,
          -0.544825180723107,
          0.35674978743306485
        ],
        "joint_pos_r": [
          -0.6998609379568885,
          -0.25887240714238957,
          0.2977405933321813,
          -1.3087281080899584,
          0.9154875787822588,
          0.4611494747749195,
          -1.0554418716592362
        ],
        "eef_pose_l": [
          480.30993629193273,
          372.16222235374954,
          96.58621731557854,
          1.7391525478822254,
          -0.1836789847222265,
          0.8370407899416326
        ],
        "eef_pose_r": [
          473.86616329865086,
          -499.7703806207036,
          68.36949470500875,
          1.5901618972023928,
          0.015899165153106153,
          1.803851797820099
        ],
        "joint_status_l": {
          "velocity": [
            0.17931529540105018,
            -1.7958631763392852,
            0.6536625862431089,
            8.420314325046974,
            3.4040792978784347,
            -5.444330873807246,
            3.4535754278706143
          ],
          "torque": [
            -24.89501953125,
            0.087890625,
            -11.212158203125,
            3.570556640625,
            -1.329345703125,
            -2.7227783203125,
            0.55938720703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.8463914369606371,
            -0.915241026808733,
            -1.3866717497537095,
            5.877123209604207,
            15.306838087193242,
            -5.103707603644203,
            -13.626629763401787
          ],
          "torque": [
            16.79443359375,
            13.48388671875,
            11.029052734375,
            -0.048828125,
            2.8546142578125,
            2.911376953125,
            -0.98052978515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.6,
            -16.6,
            -7.6,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -16.6,
            -7.6,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.2,
            0.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.2,
            0.0,
            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": 200,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3464718004998565,
          -0.36778576087240517,
          -0.1007378963050154,
          -1.2286012567749685,
          0.05158298904382394,
          -0.6837958690550558,
          0.39169905592293275
        ],
        "act_joint_pos_r": [
          -0.7154384853635607,
          -0.2684903110056268,
          0.28398034359507107,
          -1.2536670468264923,
          1.0806344153957559,
          0.4034043364088658,
          -1.210687197188934
        ],
        "act_eef_pose_l": [
          485.52868750798234,
          394.2070907697837,
          81.48603144788768,
          1.776056497218984,
          -0.23269578823921905,
          0.7962884918740197
        ],
        "act_eef_pose_r": [
          475.6254644042035,
          -535.0867481268787,
          47.17614334692007,
          1.6464567221350803,
          0.0385056261485138,
          1.6777652234176113
        ],
        "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": [
          0.3430720725081307,
          -0.3440154381759283,
          -0.10957565904455231,
          -1.3555229230159116,
          0.019118071937620558,
          -0.5648987619219237,
          0.362778236084757
        ],
        "joint_pos_r": [
          -0.7025001313303079,
          -0.26039461085128957,
          0.2955259171450492,
          -1.2997094050137417,
          0.9414299663365879,
          0.4521970844718235,
          -1.079464893672364
        ],
        "eef_pose_l": [
          481.5132696054131,
          375.6270210914948,
          94.23563150692614,
          1.7446951907724608,
          -0.19296664437944985,
          0.8318377043906976
        ],
        "eef_pose_r": [
          474.45961093954196,
          -505.54112647415445,
          65.10192201688778,
          1.5982417988207294,
          0.018757815622474562,
          1.7829346296440305
        ],
        "joint_status_l": {
          "velocity": [
            0.3671597943069038,
            -2.5671191380878255,
            0.9544502258653775,
            13.707135683665328,
            3.5061076403526403,
            -12.840508859812694,
            3.1233564240489287
          ],
          "torque": [
            -20.5517578125,
            2.2265625,
            -10.443115234375,
            0.177001953125,
            -0.9136962890625,
            -2.9608154296875,
            0.5859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.397301024399944,
            -0.8743098302783636,
            -1.2468851684852567,
            4.9724280302978485,
            15.03363710496508,
            -5.269461376343987,
            -14.171590811060675
          ],
          "torque": [
            17.83447265625,
            12.28271484375,
            10.72998046875,
            0.10986328125,
            2.6312255859375,
            3.2244873046875,
            -0.76171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.5,
            -15.7,
            -8.0,
            1.3,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.5,
            -15.7,
            -8.0,
            1.3,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.4,
            -0.2,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.4,
            -0.2,
            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": 177,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3548994403271669,
          -0.37124941777182874,
          -0.09919985985797276,
          -1.197182659953094,
          0.026217380171289894,
          -0.71894541468281,
          0.4038399605770703
        ],
        "act_joint_pos_r": [
          -0.7119692573512739,
          -0.2707117394777252,
          0.28087149816781365,
          -1.2398894977605321,
          1.0710236103985142,
          0.40796170323375475,
          -1.1982117133499395
        ],
        "act_eef_pose_l": [
          485.0710875079824,
          399.1470907697837,
          79.47323144788771,
          1.7662031147320763,
          -0.21796666761275593,
          0.7955013321904962
        ],
        "act_eef_pose_r": [
          476.2798644042035,
          -538.5875481268787,
          47.233743346920164,
          1.644830869566127,
          0.03943439737390551,
          1.6724939939146155
        ],
        "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": [
          0.34458197060671253,
          -0.34831401719347443,
          -0.10794921569166169,
          -1.331112229838496,
          0.02159282598345867,
          -0.5884112658029271,
          0.36890269794735586
        ],
        "joint_pos_r": [
          -0.7038578251857722,
          -0.26137366180426047,
          0.29413140306561647,
          -1.2941075593389495,
          0.9568547694935622,
          0.4468255684684104,
          -1.0939044904297726
        ],
        "eef_pose_l": [
          482.3967163021372,
          379.22742147423526,
          91.89272665489702,
          1.7485458392938937,
          -0.19807203662001938,
          0.8260730004573511
        ],
        "eef_pose_r": [
          474.79673888932433,
          -509.02650906070966,
          63.16326219633464,
          1.603162285364868,
          0.02078253426614873,
          1.7704642068981242
        ],
        "joint_status_l": {
          "velocity": [
            1.114253866647541,
            -2.4769502087207407,
            0.9449025616270479,
            14.46396695572183,
            0.4994371221752336,
            -14.097272302206143,
            3.773113081987134
          ],
          "torque": [
            -20.51513671875,
            2.3291015625,
            -10.302734375,
            0.3662109375,
            -1.402587890625,
            -2.764892578125,
            0.57037353515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.8760088373742647,
            -1.008482645128428,
            -1.432027493569521,
            5.855377955327867,
            12.329871167622741,
            -4.1971736563231055,
            -11.264847836449654
          ],
          "torque": [
            17.40234375,
            13.32275390625,
            10.6201171875,
            0.4150390625,
            2.6385498046875,
            3.1256103515625,
            -0.816650390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.7,
            -17.5,
            -7.3,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.7,
            -17.5,
            -7.3,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.4,
            0.7,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.4,
            0.7,
            1.1,
            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": 158,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36276545062854904,
          -0.3737985021752071,
          -0.09794308478906891,
          -1.1694800916992136,
          0.012909989245106111,
          -0.7556468858036854,
          0.42606324994184164
        ],
        "act_joint_pos_r": [
          -0.7116949174311884,
          -0.2715166296683738,
          0.28015106014225166,
          -1.2383796147386688,
          1.091713023538457,
          0.4050363950432469,
          -1.218620760148006
        ],
        "act_eef_pose_l": [
          483.38228750798237,
          402.9310907697837,
          76.83963144788783,
          1.7625728285488582,
          -0.2221450368544849,
          0.7843975605259629
        ],
        "act_eef_pose_r": [
          476.6022644042035,
          -540.5555481268786,
          46.971343346919866,
          1.6448743689739243,
          0.041688599743775576,
          1.663325240296866
        ],
        "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": [
          0.34609159463035244,
          -0.35101403477512755,
          -0.10690673266249182,
          -1.3147829069731558,
          0.021530388326217818,
          -0.6047525531127284,
          0.37382087158516786
        ],
        "joint_pos_r": [
          -0.7054691247682385,
          -0.2633094346627493,
          0.2914131022901975,
          -1.2830963044599741,
          0.9813040500453166,
          0.4387997435873345,
          -1.1163505415816504
        ],
        "eef_pose_l": [
          482.81237543786403,
          381.6351185801946,
          90.32674365858139,
          1.7504333354658856,
          -0.2005352529572422,
          0.8221657305546374
        ],
        "eef_pose_r": [
          475.3837660315348,
          -515.1680952427718,
          60.022735152269746,
          1.6110240349292497,
          0.024357748807670818,
          1.7495601882392817
        ],
        "joint_status_l": {
          "velocity": [
            1.8007233383094956,
            -2.460649906218748,
            0.9680454193562449,
            15.692241231670678,
            -0.9309756431012117,
            -16.296107302629537,
            5.642010460316982
          ],
          "torque": [
            -18.36181640625,
            3.076171875,
            -9.429931640625,
            0.726318359375,
            -1.4337158203125,
            -2.369384765625,
            0.57952880859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.6723657772296221,
            -0.8863509190843999,
            -1.2162646801692212,
            4.829260058489382,
            11.923817463061148,
            -3.6463340998862392,
            -11.044857854495937
          ],
          "torque": [
            17.57080078125,
            12.57568359375,
            10.77880859375,
            0.347900390625,
            2.548828125,
            2.8179931640625,
            -1.16912841796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -3.0,
            -16.0,
            -7.8,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -3.0,
            -16.0,
            -7.8,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.9,
            -16.8,
            1.1,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.8,
            1.1,
            1.0,
            0.3,
            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": 236,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3741243768610393,
          -0.38748220363137353,
          -0.09405074090669872,
          -1.1137151315293978,
          -0.010991911901037588,
          -0.8058882001038268,
          0.45099879185307495
        ],
        "act_joint_pos_r": [
          -0.7092524773036887,
          -0.27398137589851895,
          0.2777387818055619,
          -1.2319027929570232,
          1.0899155398734823,
          0.4051187943387901,
          -1.2163790727526238
        ],
        "act_eef_pose_l": [
          484.52228750798236,
          409.8590907697837,
          71.72843144788777,
          1.7556182877866249,
          -0.21907064490689163,
          0.7799946465373181
        ],
        "act_eef_pose_r": [
          477.2806644042035,
          -541.8443481268787,
          46.43614334692006,
          1.6455816038053626,
          0.04265294622622674,
          1.6604470496242578
        ],
        "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": [
          0.34957854315358955,
          -0.35572467238607247,
          -0.10509748674195409,
          -1.2856707944543977,
          0.01919595302906156,
          -0.6347587790132821,
          0.384431960198284
        ],
        "joint_pos_r": [
          -0.7065449284278585,
          -0.26513748352978844,
          0.28897455528674054,
          -1.2736374993425017,
          1.0033759364942947,
          0.4320164124416629,
          -1.1367538260219194
        ],
        "eef_pose_l": [
          483.27527556496636,
          385.8555239497462,
          87.49277177313789,
          1.7528609503111,
          -0.20439360647740618,
          0.8148350389392154
        ],
        "eef_pose_r": [
          475.8708776567732,
          -520.412531172057,
          57.424419787283114,
          1.6174760534204766,
          0.02768196542606683,
          1.7315974229351445
        ],
        "joint_status_l": {
          "velocity": [
            2.650871857118542,
            -3.429712220537784,
            1.1930133641592233,
            18.570663883446414,
            -3.260193258190408,
            -18.48143239706701,
            7.189005790325442
          ],
          "torque": [
            -18.01025390625,
            1.69921875,
            -10.43701171875,
            2.020263671875,
            -3.907470703125,
            -2.4609375,
            0.56488037109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2924066545162418,
            -0.9551122062940731,
            -1.2134277478290656,
            4.507215356420957,
            9.346001519372038,
            -2.9048570809302454,
            -8.599273024914922
          ],
          "torque": [
            16.9189453125,
            12.509765625,
            10.65673828125,
            0.86669921875,
            2.486572265625,
            3.175048828125,
            -0.90545654296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.6,
            -7.4,
            1.5,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -16.6,
            -7.4,
            1.5,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.9,
            -16.7,
            0.1,
            0.9,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.7,
            0.1,
            0.9,
            0.3,
            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": 204,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.38367745017185795,
          -0.40513677244921065,
          -0.09015631654287483,
          -1.0654599819201236,
          -0.04232036377628085,
          -0.84664201685995,
          0.4685095621158034
        ],
        "act_joint_pos_r": [
          -0.7020802614856487,
          -0.2785445047315817,
          0.2726664072581,
          -1.2138536647057627,
          1.0831635365123358,
          0.41429583272305337,
          -1.2060885080500083
        ],
        "act_eef_pose_l": [
          487.03748750798235,
          413.4350907697837,
          68.57323144788785,
          1.7394681882883802,
          -0.2064472284084443,
          0.7797592876847814
        ],
        "act_eef_pose_r": [
          478.8822644042035,
          -545.7459481268786,
          47.88574334691998,
          1.6377291022835794,
          0.043986899632473375,
          1.6539633419902762
        ],
        "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": [
          0.3547960372347563,
          -0.36263123490454496,
          -0.10276131642644529,
          -1.24967021556854,
          0.012201786532182365,
          -0.6703720016479964,
          0.3983338786983641
        ],
        "joint_pos_r": [
          -0.7066399796379732,
          -0.26707446954716973,
          0.28655582289130554,
          -1.2646992613856398,
          1.0193427728751463,
          0.4274650410112919,
          -1.151207967578779
        ],
        "eef_pose_l": [
          483.9985413774197,
          390.7835961439676,
          83.97565315298971,
          1.7537877774788377,
          -0.20633044981852117,
          0.8075047341932614
        ],
        "eef_pose_r": [
          476.36003318155707,
          -524.716362165534,
          55.452225112755656,
          1.6221481570010226,
          0.030427707519812774,
          1.7175428294949764
        ],
        "joint_status_l": {
          "velocity": [
            3.119100604251912,
            -4.590462666364203,
            1.3612998380331254,
            19.894118488370083,
            -5.8882185695903475,
            -19.036600188379715,
            7.578750285791802
          ],
          "torque": [
            -17.8125,
            2.607421875,
            -10.137939453125,
            1.5380859375,
            -4.661865234375,
            -2.4261474609375,
            0.59234619140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.49243503685580947,
            -1.2387272656084747,
            -1.500012647877913,
            5.4911624882478804,
            6.892439191187982,
            -1.422232548622837,
            -5.926923565626296
          ],
          "torque": [
            22.47802734375,
            11.337890625,
            9.515380859375,
            3.753662109375,
            2.0269775390625,
            3.7701416015625,
            -0.84503173828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -3.0,
            -16.2,
            -10.1,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -3.0,
            -16.2,
            -10.1,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.7,
            0.5,
            1.2,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.7,
            0.5,
            1.2,
            0.2,
            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": 32,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3793313869911881,
          -0.42340106317696075,
          -0.08694669573391425,
          -1.0295396168976363,
          -0.03588834487993225,
          -0.8769045256131905,
          0.4718966769783073
        ],
        "act_joint_pos_r": [
          -0.7035063893850646,
          -0.27538156952669535,
          0.2752289168013108,
          -1.2168384774091148,
          1.0969996488568956,
          0.41226613876023566,
          -1.2211599883783544
        ],
        "act_eef_pose_l": [
          490.0590875079823,
          413.1318907697837,
          67.14123144788783,
          1.7400829863540241,
          -0.21260328248568114,
          0.7651514960341725
        ],
        "act_eef_pose_r": [
          478.2742644042035,
          -547.3235481268787,
          49.01534334691996,
          1.636189202013253,
          0.04711901896265276,
          1.6479847785073363
        ],
        "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": [
          0.359902513847642,
          -0.37014657128585937,
          -0.10053264647698455,
          -1.2171002976068213,
          0.0025618119907446384,
          -0.7015380222368479,
          0.4107415294924868
        ],
        "joint_pos_r": [
          -0.7060061567688412,
          -0.2686688598947223,
          0.2846251269638137,
          -1.2576314776117807,
          1.028214167590209,
          0.4256344573869089,
          -1.1588366280483398
        ],
        "eef_pose_l": [
          484.86248558829766,
          394.7850717174599,
          80.96953147073387,
          1.752303384306449,
          -0.20537318110911654,
          0.8021199322781405
        ],
        "eef_pose_r": [
          476.78516915249827,
          -527.6472017576809,
          54.393429097954396,
          1.6242784902141898,
          0.03221597107640742,
          1.7086306840957723
        ],
        "joint_status_l": {
          "velocity": [
            2.567617395188293,
            -3.7788302750003666,
            1.1206105822415546,
            16.376671090069905,
            -4.847132024321406,
            -15.670769234661819,
            6.2387635208236425
          ],
          "torque": [
            -18.28125,
            4.2626953125,
            -10.90087890625,
            1.470947265625,
            -5.0811767578125,
            -2.464599609375,
            0.65185546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.4239841858399984,
            -1.066538186518251,
            -1.2915036373533084,
            4.727864352945588,
            5.934356819090603,
            -1.2245353479567456,
            -5.103052533689478
          ],
          "torque": [
            25.39306640625,
            12.7001953125,
            10.443115234375,
            0.665283203125,
            2.3236083984375,
            2.9827880859375,
            -0.66192626953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -3.2,
            -17.5,
            -8.5,
            1.5,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.5,
            -8.5,
            1.5,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.8,
            -16.6,
            0.7,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -16.6,
            0.7,
            1.0,
            0.3,
            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": 139,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37533802262866944,
          -0.4587537507766782,
          -0.080781129002955,
          -0.9382855455491766,
          -0.022008668977094782,
          -0.9398995768594804,
          0.47105248987486575
        ],
        "act_joint_pos_r": [
          -0.7197860211707751,
          -0.2673950547228061,
          0.2820740856963714,
          -1.2262630163596733,
          1.128969864933177,
          0.4119911408977857,
          -1.2513441220083092
        ],
        "act_eef_pose_l": [
          496.25668750798235,
          419.7702907697837,
          61.32603144788783,
          1.7503269305138511,
          -0.21742442158701478,
          0.7521020625953083
        ],
        "act_eef_pose_r": [
          474.6334644042035,
          -549.9115481268786,
          46.80654334692008,
          1.6406303070972603,
          0.04797841373997183,
          1.6375491361363639
        ],
        "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": [
          0.36288707944847187,
          -0.3835517102424674,
          -0.097434796211463,
          -1.1736406253876002,
          -0.002670277178302817,
          -0.7396528337748945,
          0.42145901324222973
        ],
        "joint_pos_r": [
          -0.7073706476575132,
          -0.2690365900372221,
          0.2836213230246278,
          -1.2509835795909043,
          1.0448247834948223,
          0.4230763179465416,
          -1.1740241169006185
        ],
        "eef_pose_l": [
          487.0355912350428,
          398.9067171332585,
          77.59489036644311,
          1.7519455660548713,
          -0.20646485730388933,
          0.7938971738401718
        ],
        "eef_pose_r": [
          476.7556569530393,
          -531.6648817876988,
          53.147394603932526,
          1.6268625725684258,
          0.03500978839747579,
          1.6958870143159752
        ],
        "joint_status_l": {
          "velocity": [
            1.3446622047692536,
            -8.121580844471232,
            1.7985430133282687,
            25.417598970539856,
            -2.0884847177053656,
            -21.626010428052567,
            5.3559375113914065
          ],
          "torque": [
            -19.86328125,
            3.64013671875,
            -9.19189453125,
            2.18505859375,
            -4.94384765625,
            -2.779541015625,
            0.60791015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.3408207940361905,
            0.17728058534549618,
            -0.16709670319814407,
            2.669742089139504,
            9.087400776782495,
            -1.1971638128067674,
            -8.350314272275838
          ],
          "torque": [
            17.314453125,
            19.51904296875,
            10.589599609375,
            1.1962890625,
            2.46826171875,
            2.81982421875,
            -1.00341796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.9,
            -15.7,
            -9.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -15.7,
            -9.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.9,
            -16.3,
            0.8,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.9,
            -16.3,
            0.8,
            1.0,
            0.3,
            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": 148,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3798294841075356,
          -0.4724910407524473,
          -0.07911002724645734,
          -0.9070456698651932,
          -0.032787690452002416,
          -0.9500480299487534,
          0.47964750822846236
        ],
        "act_joint_pos_r": [
          -0.7249992354184567,
          -0.2684682540723441,
          0.279696549873715,
          -1.2121730450366834,
          1.1175797244932806,
          0.4199796645208416,
          -1.23380145850428
        ],
        "act_eef_pose_l": [
          499.8398875079823,
          422.9142907697837,
          58.37403144788783,
          1.7478513088158312,
          -0.2170811801902373,
          0.7614556956298191
        ],
        "act_eef_pose_r": [
          473.4782644042035,
          -553.7131481268787,
          43.960943346919976,
          1.6437718789878049,
          0.045697264106422886,
          1.6329580286108132
        ],
        "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": [
          0.36544078563411575,
          -0.39746472957328166,
          -0.09450843914958071,
          -1.1314241521117587,
          -0.007065753817676656,
          -0.773717644549275,
          0.4305818356497823
        ],
        "joint_pos_r": [
          -0.7085906888687561,
          -0.2689272537096168,
          0.2834183243663848,
          -1.24844492356719,
          1.051715764066293,
          0.42235983727786464,
          -1.180147483785085
        ],
        "eef_pose_l": [
          488.94908701712615,
          401.57059637894963,
          74.6562651609695,
          1.7529818443521232,
          -0.20675932639171168,
          0.789006226466866
        ],
        "eef_pose_r": [
          476.5446954460045,
          -533.6458510125435,
          52.395479658467735,
          1.6283063287536785,
          0.0361098402372213,
          1.6898537073666549
        ],
        "joint_status_l": {
          "velocity": [
            1.5539336043075558,
            -8.102602633859313,
            1.6629794385806251,
            24.232161393232587,
            -2.777887227102871,
            -19.04311997634167,
            5.298936354723338
          ],
          "torque": [
            -20.03173828125,
            4.31396484375,
            -8.85009765625,
            0.91552734375,
            -4.9163818359375,
            -2.9425048828125,
            0.6463623046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.7720707629340637,
            0.04957049882192699,
            -0.40193979062808083,
            3.9172473482604886,
            7.113097936504609,
            -0.25705107644213854,
            -5.7944583712572495
          ],
          "torque": [
            17.07275390625,
            20.33935546875,
            10.87646484375,
            1.15966796875,
            2.3199462890625,
            3.321533203125,
            -0.7342529296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.4,
            -16.0,
            -8.7,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -1.4,
            -16.0,
            -8.7,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -16.8,
            1.9,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -16.8,
            1.9,
            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": 103,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37953548972672047,
          -0.5144732765651169,
          -0.07408981670794484,
          -0.8222305654560809,
          -0.04464262266106002,
          -0.9905886738667985,
          0.4844175591195364
        ],
        "act_joint_pos_r": [
          -0.7429983743625597,
          -0.2619427627043372,
          0.28604628458796655,
          -1.2248594996647737,
          1.1510303500177663,
          0.4212713500102422,
          -1.2610237729065348
        ],
        "act_eef_pose_l": [
          509.3766875079823,
          426.5390907697837,
          54.191631447887914,
          1.7415480248742006,
          -0.2133438502249219,
          0.7678508366409866
        ],
        "act_eef_pose_r": [
          469.8886644042035,
          -554.2651481268787,
          40.93614334692006,
          1.6484430836671202,
          0.04020425108364786,
          1.6260343130302282
        ],
        "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": [
          0.3670515386311291,
          -0.40777421742109515,
          -0.0925504173235865,
          -1.1023806879482967,
          -0.010488802312788483,
          -0.7953952744090327,
          0.43632798250551885
        ],
        "joint_pos_r": [
          -0.7129361126481901,
          -0.26845576128250964,
          0.28303891644304446,
          -1.241888432967831,
          1.0669037673976987,
          0.4219562819670026,
          -1.1925183274075997
        ],
        "eef_pose_l": [
          491.44301431608045,
          405.433408056919,
          72.18505153143593,
          1.7514514442896376,
          -0.20786199816972556,
          0.7851515004661904
        ],
        "eef_pose_r": [
          475.8456358463,
          -537.4613736403445,
          50.61685400359758,
          1.6314263948167484,
          0.03738771486612439,
          1.6787014670266944
        ],
        "joint_status_l": {
          "velocity": [
            1.348226954495324,
            -11.52315853016006,
            1.9936860658619215,
            30.25532089616867,
            -3.688503811008506,
            -21.080265412243726,
            5.193521099597032
          ],
          "torque": [
            -18.91845703125,
            6.56982421875,
            -9.04541015625,
            2.62451171875,
            -5.1361083984375,
            -2.9571533203125,
            0.46600341796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.246628510962246,
            0.7033831012670522,
            0.3247861805948382,
            1.8390705562438825,
            9.085402963330047,
            -0.07397046968771193,
            -7.398369910626812
          ],
          "torque": [
            14.0625,
            20.16357421875,
            14.508056640625,
            -0.32958984375,
            3.3270263671875,
            3.922119140625,
            -0.74615478515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.3,
            -8.2,
            1.5,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.3,
            -8.2,
            1.5,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.3,
            -1.7,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.3,
            -1.7,
            1.1,
            0.3,
            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": 82,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3774547362470012,
          -0.5710561684180725,
          -0.0686077642379745,
          -0.7186836184025874,
          -0.06214691901266471,
          -1.042098359223071,
          0.5007085499343333
        ],
        "act_joint_pos_r": [
          -0.7651063442512815,
          -0.2520749084339537,
          0.2972213663308452,
          -1.2517603169567901,
          1.198386373175551,
          0.4186055391336752,
          -1.3070152788300693
        ],
        "act_eef_pose_l": [
          521.4278875079824,
          427.0318907697837,
          50.89003144788791,
          1.7275274276474346,
          -0.21920484221411762,
          0.7694240782856592
        ],
        "act_eef_pose_r": [
          465.59346440420353,
          -552.0291481268787,
          38.6025433469199,
          1.6537264803252647,
          0.036495830405306094,
          1.6221416432698337
        ],
        "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": [
          0.3694409504617556,
          -0.43251772052077014,
          -0.08851972332261124,
          -1.040029864138062,
          -0.01837376316142242,
          -0.8376387786224113,
          0.4469446973225856
        ],
        "joint_pos_r": [
          -0.7199036841747314,
          -0.266651144163047,
          0.28425680213280263,
          -1.2402325338719504,
          1.0855586591826218,
          0.4216718947330458,
          -1.208140953256088
        ],
        "eef_pose_l": [
          496.540453135092,
          410.14625407053813,
          67.98308756934077,
          1.7492247841073771,
          -0.20787489766832062,
          0.7816046265441955
        ],
        "eef_pose_r": [
          474.53936023835155,
          -540.4944313687157,
          48.663613274144836,
          1.6347129338945694,
          0.037471515207576,
          1.6685653964704132
        ],
        "joint_status_l": {
          "velocity": [
            0.8654633393292421,
            -14.961711100827113,
            2.1504281576525397,
            34.70437098872203,
            -4.727361405862385,
            -22.08098346107601,
            5.806324833671717
          ],
          "torque": [
            -20.41259765625,
            -7.5732421875,
            -9.48486328125,
            11.92626953125,
            -6.09375,
            -4.8211669921875,
            0.5072021484375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.8817433089443085,
            1.5741870305774341,
            1.400131638713109,
            -1.2449638549156816,
            12.185033732876605,
            -0.331156637789487,
            -10.678112227903824
          ],
          "torque": [
            13.4912109375,
            23.85498046875,
            19.677734375,
            -3.50341796875,
            3.9935302734375,
            4.171142578125,
            -0.823974609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.9,
            -5.2,
            1.5,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.9,
            -5.2,
            1.5,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.6,
            0.3,
            1.2,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.6,
            0.3,
            1.2,
            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": 78,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.37402522834148383,
          -0.6032990027227705,
          -0.06655127713851793,
          -0.6615458779843326,
          -0.05811814843609904,
          -1.0731826793823498,
          0.5016634937110724
        ],
        "act_joint_pos_r": [
          -0.7746479718331716,
          -0.2502343342665026,
          0.2997195768613987,
          -1.2589337020741744,
          1.2120335805178397,
          0.42044959644040636,
          -1.3201432118437324
        ],
        "act_eef_pose_l": [
          527.2910875079823,
          425.71109076978365,
          48.60123144788787,
          1.7277757515131986,
          -0.222241051867555,
          0.7622254593278828
        ],
        "act_eef_pose_r": [
          463.9446644042035,
          -550.9691481268786,
          36.43214334691993,
          1.656819099048729,
          0.03476201473917979,
          1.6221293848449043
        ],
        "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": [
          0.3707565651510048,
          -0.46058024822568655,
          -0.08463612271516852,
          -0.9759632466524669,
          -0.026414401691951226,
          -0.8780955236938845,
          0.45716355055722396
        ],
        "joint_pos_r": [
          -0.729003124930957,
          -0.2637887397675279,
          0.2868527559575011,
          -1.2428285561828971,
          1.1076803169607496,
          0.42119939760121494,
          -1.227594728324765
        ],
        "eef_pose_l": [
          502.41903600189255,
          413.840059751965,
          64.18865964748554,
          1.7456220465713765,
          -0.20863436674059702,
          0.7787597131937501
        ],
        "eef_pose_r": [
          472.80262966707886,
          -542.6005128139577,
          46.66341121039957,
          1.6381088167420637,
          0.036970388791733,
          1.6598546684551183
        ],
        "joint_status_l": {
          "velocity": [
            0.3530052132392214,
            -15.413170898508799,
            1.9531057185042666,
            33.95607433528003,
            -3.423903665727257,
            -21.068791423567212,
            4.805852119583953
          ],
          "torque": [
            -20.55908203125,
            -3.369140625,
            -9.4970703125,
            7.049560546875,
            -5.4437255859375,
            -3.92578125,
            0.765380859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.929498077665073,
            1.4638326206755092,
            1.3895756742772214,
            -1.7393044582156847,
            11.269820078589454,
            -0.08097613710367213,
            -9.99494143500712
          ],
          "torque": [
            15.732421875,
            24.4482421875,
            19.34814453125,
            -3.887939453125,
            2.757568359375,
            4.288330078125,
            -0.94207763671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.3,
            -7.4,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.3,
            -7.4,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.5,
            2.6,
            1.2,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.5,
            2.6,
            1.2,
            0.3,
            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": 51,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3611485601435639,
          -0.6639085542071026,
          -0.06322733010350927,
          -0.5734632254801324,
          -0.048947441578938045,
          -1.1126349792079688,
          0.49219083981393497
        ],
        "act_joint_pos_r": [
          -0.7888538379495071,
          -0.24232578934121518,
          0.30793629679722395,
          -1.2669302096434256,
          1.2214048848604673,
          0.4181573037116071,
          -1.3247641245743889
        ],
        "act_eef_pose_l": [
          539.9686875079824,
          418.06629076978373,
          47.62843144788786,
          1.7252025516813234,
          -0.22106690446034943,
          0.7502753476877038
        ],
        "act_eef_pose_r": [
          460.6526644042035,
          -552.5163481268786,
          34.876943346919916,
          1.6636221979810069,
          0.031358496583110775,
          1.617746122199295
        ],
        "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": [
          0.37080908995605943,
          -0.4902205582373106,
          -0.08107147234037254,
          -0.9126592752446716,
          -0.03200492866540162,
          -0.9167064553590578,
          0.4651597755844213
        ],
        "joint_pos_r": [
          -0.7374924445310665,
          -0.2611589861933886,
          0.28937002678735024,
          -1.245911896095303,
          1.1264072083410552,
          0.42099922739489803,
          -1.2440943476605724
        ],
        "eef_pose_l": [
          508.48505158687294,
          416.40118716365134,
          60.794079289342704,
          1.7423295017624798,
          -0.20997158365084825,
          0.775126170796802
        ],
        "eef_pose_r": [
          471.17498450661765,
          -544.1160372644476,
          44.82356183429181,
          1.6413197725024071,
          0.0363048163142716,
          1.6531179586440885
        ],
        "joint_status_l": {
          "velocity": [
            -1.0433064490706911,
            -18.757750334463807,
            1.9271105244945685,
            36.63209296874026,
            -1.8297374294410917,
            -21.15965650497209,
            2.9192688375552223
          ],
          "torque": [
            -22.31689453125,
            5.98388671875,
            -9.4970703125,
            2.032470703125,
            -5.5682373046875,
            -2.8070068359375,
            0.63629150390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -5.546866893096691,
            2.0339252726155888,
            2.005098023861507,
            -2.26991091575357,
            10.259446477896006,
            -0.30691870571208923,
            -8.712078957657354
          ],
          "torque": [
            18.3984375,
            23.701171875,
            19.49462890625,
            -3.5888671875,
            2.1881103515625,
            4.324951171875,
            -0.728759765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.7,
            -16.4,
            -8.0,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.7,
            -16.4,
            -8.0,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.8,
            0.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.8,
            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": 15,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.356418363513453,
          -0.729933184176907,
          -0.06007334838950657,
          -0.466347103556076,
          -0.05246031154792557,
          -1.1845018520853379,
          0.4868744516164023
        ],
        "act_joint_pos_r": [
          -0.8080800025520856,
          -0.23312156302403436,
          0.3186641070051164,
          -1.2798777113584503,
          1.2473448245080174,
          0.4199151384005348,
          -1.345859247017141
        ],
        "act_eef_pose_l": [
          548.6838875079823,
          408.7502907697837,
          45.811631447887805,
          1.7118638957358583,
          -0.21159892617386272,
          0.725783146450732
        ],
        "act_eef_pose_r": [
          456.70626440420347,
          -553.7539481268786,
          33.65134334691993,
          1.66694979380789,
          0.028065545692971535,
          1.6110630295238382
        ],
        "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": [
          0.3686871751659674,
          -0.5262244604029126,
          -0.07778207437478551,
          -0.8448097409461677,
          -0.03518660093909553,
          -0.9570258517693694,
          0.4690036402253502
        ],
        "joint_pos_r": [
          -0.7484859050434987,
          -0.25691361842210897,
          0.2937197432295594,
          -1.2509159365153144,
          1.1457837175518333,
          0.4206715947795349,
          -1.2604556730407577
        ],
        "eef_pose_l": [
          515.7484320884781,
          416.6730328412701,
          57.865707851986485,
          1.7379303228548335,
          -0.20957328631516303,
          0.7684813831929687
        ],
        "eef_pose_r": [
          468.94662132802864,
          -545.7327308865331,
          42.924372909220324,
          1.6452687627498797,
          0.03485875016389572,
          1.6462370623038765
        ],
        "joint_status_l": {
          "velocity": [
            -1.3249925799043716,
            -21.999893315421293,
            1.9124860006506372,
            40.87275936053025,
            -1.8655057256032892,
            -24.56668347852542,
            1.9299907081999912
          ],
          "torque": [
            -34.15283203125,
            1.13525390625,
            -9.36279296875,
            2.9052734375,
            -5.82275390625,
            -3.18603515625,
            0.62347412109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -6.435972712058202,
            2.5694662006372493,
            2.6939118350775004,
            -3.1277794341342258,
            10.96827605925732,
            -0.08169487947062848,
            -9.223313962344548
          ],
          "torque": [
            16.41357421875,
            23.73779296875,
            17.96875,
            -3.33251953125,
            2.171630859375,
            3.9495849609375,
            -0.88531494140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -3.3,
            -16.8,
            -13.0,
            1.6,
            -0.3,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -16.8,
            -13.0,
            1.6,
            -0.3,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -16.3,
            1.2,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -16.3,
            1.2,
            1.0,
            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": 20,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156459,
          -0.8462461121061376,
          -0.055144205056883784,
          -0.23210216829044608,
          -0.04914768270327139,
          -1.338002423226628,
          0.4794743167475672
        ],
        "act_joint_pos_r": [
          -0.8202539179816837,
          -0.2283585351228269,
          0.325209177769895,
          -1.288946576375704,
          1.2850818250732539,
          0.4210228098680075,
          -1.3800288768145728
        ],
        "act_eef_pose_l": [
          557.5214875079823,
          401.49909076978366,
          40.20363144788786,
          1.7050796070252439,
          -0.20240126996058527,
          0.6930862690870231
        ],
        "act_eef_pose_r": [
          454.5374644042035,
          -555.3947481268787,
          32.97694334692005,
          1.6673550343348944,
          0.02713055267554505,
          1.59997719184553
        ],
        "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": [
          0.36602968934769414,
          -0.576899830188102,
          -0.07402984363922291,
          -0.7483744160680817,
          -0.03782327502094902,
          -1.0165899264939173,
          0.4712307722193497
        ],
        "joint_pos_r": [
          -0.75965663573373,
          -0.252464841957399,
          0.2985590445655196,
          -1.2567004735637635,
          1.1667382395737254,
          0.4206722296543963,
          -1.2783514198051518
        ],
        "eef_pose_l": [
          524.9116054244171,
          416.29537173311104,
          54.021675792644544,
          1.7321005905849023,
          -0.20720385183999698,
          0.7572609104330296
        ],
        "eef_pose_r": [
          466.71011591359684,
          -547.2403112066679,
          41.31483076915808,
          1.6484641019913315,
          0.03337241070643196,
          1.63927257576256
        ],
        "joint_status_l": {
          "velocity": [
            -1.4564139232287054,
            -29.088540526504225,
            2.039588812436155,
            55.75575833179425,
            -1.2229999592351382,
            -34.71152588539983,
            0.890276551744229
          ],
          "torque": [
            -34.423828125,
            -3.80859375,
            -8.10546875,
            0.439453125,
            -5.738525390625,
            -4.41650390625,
            0.5548095703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -6.544313468570095,
            2.603404354826866,
            2.878129500180293,
            -3.4824763935379366,
            12.780730286458208,
            0.03786154640295081,
            -10.980841494408367
          ],
          "torque": [
            17.724609375,
            26.455078125,
            18.096923828125,
            -3.28369140625,
            2.1807861328125,
            5.09033203125,
            -0.89447021484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -20.4,
            -7.2,
            1.8,
            0.3,
            0.2
          ],
          "actual_contact_FT": [
            -0.9,
            -20.4,
            -7.2,
            1.8,
            0.3,
            0.2
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -16.5,
            1.3,
            0.8,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -16.5,
            1.3,
            0.8,
            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": -62,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36602968934769414,
          -0.576899830188102,
          -0.07402984363922291,
          -0.7483744160680817,
          -0.03782327502094902,
          -1.0165899264939173,
          0.4712307722193497
        ],
        "act_joint_pos_r": [
          -0.8264243846354256,
          -0.23115408393167386,
          0.3219903144953463,
          -1.2833369715162966,
          1.3098201598164616,
          0.43281662187787695,
          -1.3970323631198087
        ],
        "act_eef_pose_l": [
          524.9116054244171,
          416.29537173311104,
          54.021675792644544,
          1.7321005905849023,
          -0.20720385183999698,
          0.7572609104330296
        ],
        "act_eef_pose_r": [
          453.7854644042035,
          -557.8627481268786,
          30.856143346920135,
          1.6634290912776326,
          0.023318893523340177,
          1.5893514976645056
        ],
        "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": [
          0.3646883302851889,
          -0.6036904127470625,
          -0.0721513797673034,
          -0.697023292234131,
          -0.03894965952785273,
          -1.0485592856693287,
          0.4720507180477791
        ],
        "joint_pos_r": [
          -0.7668531686398414,
          -0.2499070669753489,
          0.3013792733844772,
          -1.2600132419123957,
          1.1815300032015914,
          0.42139712599840407,
          -1.2908130600589574
        ],
        "eef_pose_l": [
          529.3490263613305,
          415.8349201665094,
          52.1110860584775,
          1.729196588274712,
          -0.20595314296434353,
          0.7511192801817252
        ],
        "eef_pose_r": [
          465.3134257280078,
          -548.2837934754119,
          40.25482100857218,
          1.65007425966954,
          0.032253931484693195,
          1.6343595030084632
        ],
        "joint_status_l": {
          "velocity": [
            -1.3115514169692588,
            -26.19524294338671,
            1.8367206975440364,
            50.21000052111102,
            -1.1013540202447492,
            -31.258936923124203,
            0.8017250139618071
          ],
          "torque": [
            -36.48193359375,
            4.54833984375,
            -6.988525390625,
            3.497314453125,
            -5.92529296875,
            -3.33984375,
            0.65643310546875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -6.43350158153666,
            2.0252624367942396,
            2.2259267897721813,
            -2.518888506575223,
            13.854928285139678,
            1.2332691816525632,
            -11.471346401295435
          ],
          "torque": [
            15.06591796875,
            23.583984375,
            17.840576171875,
            -3.4423828125,
            3.153076171875,
            6.3555908203125,
            -0.9136962890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.7,
            -17.0,
            -6.0,
            1.5,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.0,
            -6.0,
            1.5,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.5,
            -0.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.5,
            -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": -30,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3646883302851889,
          -0.6036904127470625,
          -0.0721513797673034,
          -0.697023292234131,
          -0.03894965952785273,
          -1.0485592856693287,
          0.4720507180477791
        ],
        "act_joint_pos_r": [
          -0.8272701885445491,
          -0.234535106101295,
          0.3187007655857774,
          -1.2829408583317257,
          1.321124697658771,
          0.43494105231736296,
          -1.406721353570468
        ],
        "act_eef_pose_l": [
          529.3490263613305,
          415.8349201665094,
          52.1110860584775,
          1.729196588274712,
          -0.20595314296434353,
          0.7511192801817252
        ],
        "act_eef_pose_r": [
          454.0262644042035,
          -557.2219481268786,
          28.957743346920097,
          1.6644806237086487,
          0.021301976066617025,
          1.5875848567586945
        ],
        "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": [
          0.36224629413772286,
          -0.6524645052696549,
          -0.06873150748614977,
          -0.6035350502556637,
          -0.04100031975649195,
          -1.1067616961200106,
          0.47354348565039894
        ],
        "joint_pos_r": [
          -0.7789046351020841,
          -0.24642652240265847,
          0.30524130013563655,
          -1.2646692523768446,
          1.2082980127721457,
          0.42387586348855233,
          -1.3130042194121148
        ],
        "eef_pose_l": [
          536.7685751912137,
          414.41769778009257,
          48.915819204024075,
          1.7240241743941265,
          -0.20410744707224196,
          0.7398013889712889
        ],
        "eef_pose_r": [
          463.0613459535374,
          -550.0916955777027,
          38.22479073516524,
          1.652386912845287,
          0.029974832622546983,
          1.6255003414397216
        ],
        "joint_status_l": {
          "velocity": [
            -1.0478192914065154,
            -20.927796305981516,
            1.4673853841422058,
            40.11356816579159,
            -0.8798892473060316,
            -24.973261980522743,
            0.6405108676359461
          ],
          "torque": [
            -39.638671875,
            0.38818359375,
            -6.768798828125,
            1.690673828125,
            -6.243896484375,
            -3.673095703125,
            0.63812255859375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -5.223325718028526,
            1.2842350840580607,
            1.453579397582505,
            -1.9732752444845403,
            12.18492259267201,
            1.1950051487188418,
            -10.121151981680399
          ],
          "torque": [
            16.1865234375,
            25.07080078125,
            18.548583984375,
            -3.289794921875,
            2.1148681640625,
            6.08642578125,
            -0.88714599609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -18.3,
            -9.1,
            1.6,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -18.3,
            -9.1,
            1.6,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.6,
            2.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.6,
            2.5,
            1.1,
            0.2,
            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": -41,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.36224629413772286,
          -0.6524645052696549,
          -0.06873150748614977,
          -0.6035350502556637,
          -0.04100031975649195,
          -1.1067616961200106,
          0.47354348565039894
        ],
        "act_joint_pos_r": [
          -0.8208606906557742,
          -0.24536056637048292,
          0.30841404605380507,
          -1.2825502907243906,
          1.3418349225141553,
          0.4333985694127603,
          -1.4216580114448707
        ],
        "act_eef_pose_l": [
          536.7685751912137,
          414.41769778009257,
          48.915819204024075,
          1.7240241743941265,
          -0.20410744707224196,
          0.7398013889712889
        ],
        "act_eef_pose_r": [
          456.37666440420355,
          -553.8019481268786,
          25.241743346919975,
          1.6679939427860409,
          0.012157466619409201,
          1.5872800085565244
        ],
        "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": [
          0.3604121965433462,
          -0.6890964142020471,
          -0.06616300352258342,
          -0.5333204631812176,
          -0.04254047345001265,
          -1.1504747677325178,
          0.4746646326374202
        ],
        "joint_pos_r": [
          -0.7880796932629223,
          -0.24496510170409755,
          0.3070643007839421,
          -1.2683098374322044,
          1.2327643796776948,
          0.4259684194665771,
          -1.3331320919074992
        ],
        "eef_pose_l": [
          541.7721343639657,
          412.8638019209768,
          46.767622147463726,
          1.7202405603292337,
          -0.2030917662493437,
          0.7311849035444916
        ],
        "eef_pose_r": [
          461.49628376283937,
          -551.173960510754,
          36.092247264310714,
          1.6546978785552642,
          0.027238626138339404,
          1.6181519044542354
        ],
        "joint_status_l": {
          "velocity": [
            -0.849742593173719,
            -16.97166682108442,
            1.1899951372650874,
            32.530616408958494,
            -0.7135575540968553,
            -20.252389481065336,
            0.5194305641103014
          ],
          "torque": [
            -40.48095703125,
            5.28076171875,
            -5.950927734375,
            3.955078125,
            -6.2054443359375,
            -3.3563232421875,
            0.65277099609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.5402433045321757,
            -0.042708924337109266,
            0.14576818994216367,
            -1.537923596922397,
            11.77927121530331,
            0.802432527705399,
            -9.56051733765051
          ],
          "torque": [
            15.97412109375,
            23.7890625,
            17.645263671875,
            -3.485107421875,
            2.017822265625,
            5.885009765625,
            -0.9869384765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.6,
            -16.8,
            -7.8,
            1.4,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -16.8,
            -7.8,
            1.4,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -16.4,
            1.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -16.4,
            1.1,
            1.0,
            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": -66,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3604121965433462,
          -0.6890964142020471,
          -0.06616300352258342,
          -0.5333204631812176,
          -0.04254047345001265,
          -1.1504747677325178,
          0.4746646326374202
        ],
        "act_joint_pos_r": [
          -0.8153773809836431,
          -0.25055052559650726,
          0.30271286642639195,
          -1.2737243480485623,
          1.3052272500099509,
          0.4311477719902891,
          -1.3857976596273303
        ],
        "act_eef_pose_l": [
          541.7721343639657,
          412.8638019209768,
          46.767622147463726,
          1.7202405603292337,
          -0.2030917662493437,
          0.7311849035444916
        ],
        "act_eef_pose_r": [
          457.54546440420347,
          -551.8483481268787,
          23.07454334691988,
          1.673651947694712,
          0.00961456358690782,
          1.5986381738327462
        ],
        "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": [
          0.35902102927124907,
          -0.7168818019466473,
          -0.06421478731897395,
          -0.48006253630683293,
          -0.043708683592698076,
          -1.1836312337660684,
          0.4755150252230364
        ],
        "joint_pos_r": [
          -0.793480292976181,
          -0.2454092283168316,
          0.3068918820750603,
          -1.2701913033940915,
          1.2494094914080407,
          0.4271198460124501,
          -1.3461986246484543
        ],
        "eef_pose_l": [
          545.2367162262734,
          411.4066212251416,
          45.288200858929116,
          1.7174308704295076,
          -0.20253542897121454,
          0.7245827267441496
        ],
        "eef_pose_r": [
          460.7150525750123,
          -551.4668726793335,
          34.05825996750775,
          1.657201037812876,
          0.02428573394756325,
          1.6136920784922983
        ],
        "joint_status_l": {
          "velocity": [
            -0.699500958927235,
            -13.970933446568523,
            0.9795939927252917,
            26.778929943449548,
            -0.587394579664835,
            -16.671596759277207,
            0.42759087353072545
          ],
          "torque": [
            -40.26123046875,
            3.6474609375,
            -5.38330078125,
            2.38037109375,
            -5.9710693359375,
            -3.4332275390625,
            0.6134033203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.3648157582938367,
            -0.5552437301665769,
            -0.451320379073028,
            -0.38155756924318496,
            6.028140138516491,
            0.43500317587374937,
            -4.276569647037931
          ],
          "torque": [
            14.2529296875,
            18.47900390625,
            11.248779296875,
            -3.67431640625,
            1.7742919921875,
            6.0223388671875,
            -0.3717041015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -16.3,
            -9.6,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -16.3,
            -9.6,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -15.7,
            0.4,
            0.9,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -15.7,
            0.4,
            0.9,
            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": -108,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35902102927124907,
          -0.7168818019466473,
          -0.06421478731897395,
          -0.48006253630683293,
          -0.043708683592698076,
          -1.1836312337660684,
          0.4755150252230364
        ],
        "act_joint_pos_r": [
          -0.8136798737328671,
          -0.2493019657183092,
          0.3046684961463616,
          -1.2807799495838512,
          1.3017658933854008,
          0.42693632217084077,
          -1.3871302640155665
        ],
        "act_eef_pose_l": [
          545.2367162262734,
          411.4066212251416,
          45.288200858929116,
          1.7174308704295076,
          -0.20253542897121454,
          0.7245827267441496
        ],
        "act_eef_pose_r": [
          457.87346440420345,
          -549.4619481268786,
          24.205743346919917,
          1.6738610622615508,
          0.011217851303865609,
          1.604591969110511
        ],
        "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": [
          0.3578758320683811,
          -0.7397544995466632,
          -0.06261103211878712,
          -0.43622105864243355,
          -0.04467034436103155,
          -1.2109253578589745,
          0.47621506125027785
        ],
        "joint_pos_r": [
          -0.7968885206127239,
          -0.24611354259048795,
          0.3064255501709905,
          -1.2715682934557115,
          1.258195081351769,
          0.42730678637035285,
          -1.3528588961631127
        ],
        "eef_pose_l": [
          547.8722613539832,
          410.02767539897513,
          44.17021782119858,
          1.7151581100704343,
          -0.2022168371928925,
          0.7191047358890831
        ],
        "eef_pose_r": [
          460.2519605249668,
          -551.2550597132406,
          32.39230036898914,
          1.6598462549500337,
          0.022024737273469704,
          1.6119457589668738
        ],
        "joint_status_l": {
          "velocity": [
            -0.5758233086949893,
            -11.500754959786086,
            0.8063935393794464,
            22.0441899993844,
            -0.48353827976266306,
            -13.723918294372695,
            0.3519892123402535
          ],
          "torque": [
            -39.3603515625,
            3.01025390625,
            -5.224609375,
            3.228759765625,
            -6.04248046875,
            -3.3233642578125,
            0.60699462890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.8134126532274308,
            -0.3443395420525963,
            -0.18975623809858178,
            -0.994829520909235,
            4.705508918064538,
            -0.04000895354616674,
            -3.701198567048536
          ],
          "torque": [
            16.23046875,
            15.5859375,
            11.749267578125,
            -3.40576171875,
            2.054443359375,
            5.3887939453125,
            -0.56121826171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.0,
            -7.5,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -16.0,
            -7.5,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.1,
            1.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.1,
            1.8,
            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": -162,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3578758320683811,
          -0.7397544995466632,
          -0.06261103211878712,
          -0.43622105864243355,
          -0.04467034436103155,
          -1.2109253578589745,
          0.47621506125027785
        ],
        "act_joint_pos_r": [
          -0.8053264737176339,
          -0.2577742923582927,
          0.2955707587742311,
          -1.265310581959857,
          1.289582012712967,
          0.43338870853146205,
          -1.375965554118749
        ],
        "act_eef_pose_l": [
          547.8722613539832,
          410.02767539897513,
          44.17021782119858,
          1.7151581100704343,
          -0.2022168371928925,
          0.7191047358890831
        ],
        "act_eef_pose_r": [
          460.04386440420353,
          -550.2851481268787,
          23.17374334691999,
          1.6702648830339144,
          0.013528198964372165,
          1.6048742927032413
        ],
        "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": [
          0.3569331153586358,
          -0.7585831119205699,
          -0.06129083432073927,
          -0.40013112280374624,
          -0.04546197542085599,
          -1.233393651350962,
          0.4767913250227106
        ],
        "joint_pos_r": [
          -0.798804663199269,
          -0.2477449797516678,
          0.3049683757666793,
          -1.2712475154380176,
          1.2643633336607285,
          0.42805442599102006,
          -1.3575113662112506
        ],
        "eef_pose_l": [
          549.8938771374474,
          408.7715282679779,
          43.318956669212355,
          1.713315052399703,
          -0.20204936310647795,
          0.7145660430231784
        ],
        "eef_pose_r": [
          460.11788352334924,
          -551.0406133183037,
          30.819451006120175,
          1.6618359541073244,
          0.020375674280051808,
          1.6107144225865853
        ],
        "joint_status_l": {
          "velocity": [
            -0.4740129067797305,
            -9.46732479622181,
            0.663816382278748,
            18.14659188231804,
            -0.39804464680154306,
            -11.297414163152553,
            0.28975456043056624
          ],
          "torque": [
            -41.630859375,
            4.3798828125,
            -4.962158203125,
            3.11279296875,
            -6.4727783203125,
            -2.772216796875,
            0.68023681640625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.704334762740011,
            -1.083133816190962,
            -1.014912701934545,
            0.6411699053465725,
            2.7235370112101975,
            0.5760855236331963,
            -1.9929935138058852
          ],
          "torque": [
            16.083984375,
            14.853515625,
            10.955810546875,
            -0.1220703125,
            1.571044921875,
            6.3885498046875,
            -0.8258056640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -3.1,
            -16.5,
            -6.9,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -3.1,
            -16.5,
            -6.9,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.2,
            1.9,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.2,
            1.9,
            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": -114,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3569331153586358,
          -0.7585831119205699,
          -0.06129083432073927,
          -0.40013112280374624,
          -0.04546197542085599,
          -1.233393651350962,
          0.4767913250227106
        ],
        "act_joint_pos_r": [
          -0.7990446832334127,
          -0.2668593934297568,
          0.2872573129425177,
          -1.255280322097157,
          1.2965066814920982,
          0.43639059687858933,
          -1.3817896218238128
        ],
        "act_eef_pose_l": [
          549.8938771374474,
          408.7715282679779,
          43.318956669212355,
          1.713315052399703,
          -0.20204936310647795,
          0.7145660430231784
        ],
        "act_eef_pose_r": [
          462.1734644042035,
          -550.2835481268787,
          21.182543346920056,
          1.6692222528385672,
          0.013157297485537053,
          1.601769121177863
        ],
        "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": [
          0.35615707888857884,
          -0.7740826673349076,
          -0.0602040585922694,
          -0.3704221910288893,
          -0.04611363945407299,
          -1.2518893616629587,
          0.4772657005155364
        ],
        "joint_pos_r": [
          -0.799088980960731,
          -0.24900525390243564,
          0.30379623627479657,
          -1.2702972198515834,
          1.2668333018461202,
          0.42864436884075147,
          -1.359352036358348
        ],
        "eef_pose_l": [
          551.4571285347215,
          407.6558218812761,
          42.6657178040991,
          1.7118171081235023,
          -0.20197587696457997,
          0.7108099887021709
        ],
        "eef_pose_r": [
          460.20942282334744,
          -550.9774419259143,
          30.0753040937324,
          1.6625043376623305,
          0.01974652199993072,
          1.61008790120715
        ],
        "joint_status_l": {
          "velocity": [
            -0.390203439841752,
            -7.793422180591314,
            0.5464480651974912,
            14.938121879398025,
            -0.32766700689162986,
            -9.299936361914618,
            0.23852351818431927
          ],
          "torque": [
            -41.1474609375,
            1.5966796875,
            -4.681396484375,
            2.734375,
            -6.2054443359375,
            -2.9132080078125,
            0.6427001953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.004784013453829061,
            -1.928190200020552,
            -1.7861510401773195,
            1.6217771257185376,
            3.2046304862412,
            0.8365679548334448,
            -2.4231877621669895
          ],
          "torque": [
            16.82373046875,
            15.791015625,
            10.833740234375,
            0.848388671875,
            1.739501953125,
            6.368408203125,
            -0.86517333984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.1,
            -8.5,
            1.3,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -16.1,
            -8.5,
            1.3,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.0,
            1.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.0,
            1.5,
            1.1,
            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": -141,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35615707888857884,
          -0.7740826673349076,
          -0.0602040585922694,
          -0.3704221910288893,
          -0.04611363945407299,
          -1.2518893616629587,
          0.4772657005155364
        ],
        "act_joint_pos_r": [
          -0.7814847836397439,
          -0.29110866854970596,
          0.2679195693277991,
          -1.2317073282731115,
          1.2871235871826183,
          0.4372363442538676,
          -1.3717171404152486
        ],
        "act_eef_pose_l": [
          551.4571285347215,
          407.6558218812761,
          42.6657178040991,
          1.7118171081235023,
          -0.20197587696457997,
          0.7108099887021709
        ],
        "act_eef_pose_r": [
          468.2886644042035,
          -546.8355481268787,
          15.720943346919967,
          1.671948654845638,
          0.009352609620591404,
          1.6061639518200335
        ],
        "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": [
          0.35574936632873166,
          -0.7822257941830706,
          -0.059633090433773135,
          -0.3548137691420077,
          -0.04645600946037413,
          -1.2616066026541515,
          0.4775149270067792
        ],
        "joint_pos_r": [
          -0.7980602050537465,
          -0.2537894684569932,
          0.2995460543889914,
          -1.2660886477552258,
          1.2718974212652137,
          0.43015783936110963,
          -1.3630082622445931
        ],
        "eef_pose_l": [
          552.3317127996493,
          406.9669888330067,
          42.3026266569573,
          1.7109464165543389,
          -0.20195985642420697,
          0.7085978283402412
        ],
        "eef_pose_r": [
          460.93670286257134,
          -550.6735272103646,
          28.059976782797975,
          1.6639215138167378,
          0.018174699075326047,
          1.6087496065827847
        ],
        "joint_status_l": {
          "velocity": [
            -0.346171782022342,
            -6.9139904184432055,
            0.4847853227252785,
            13.252462031494439,
            -0.2906921367266113,
            -8.250505286181209,
            0.21160785096485668
          ],
          "torque": [
            -42.4072265625,
            1.8310546875,
            -4.50439453125,
            3.564453125,
            -6.3446044921875,
            -3.193359375,
            0.61981201171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.7900927167495695,
            -4.030354741053843,
            -3.4155596500617946,
            3.713072992836075,
            1.6443774207584028,
            0.7644559819937058,
            -0.9405311029482277
          ],
          "torque": [
            24.57275390625,
            10.39306640625,
            7.8369140625,
            5.89599609375,
            1.3165283203125,
            6.3043212890625,
            -0.75897216796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.5,
            -7.8,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.5,
            -7.8,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.3,
            1.5,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.3,
            1.5,
            1.1,
            0.3,
            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": -179,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35574936632873166,
          -0.7822257941830706,
          -0.059633090433773135,
          -0.3548137691420077,
          -0.04645600946037413,
          -1.2616066026541515,
          0.4775149270067792
        ],
        "act_joint_pos_r": [
          -0.7551877353157108,
          -0.32298069320964073,
          0.24593541820768128,
          -1.1860671493373727,
          1.188879912312508,
          0.43607323751590765,
          -1.285730366120331
        ],
        "act_eef_pose_l": [
          552.3317127996493,
          406.9669888330067,
          42.3026266569573,
          1.7109464165543389,
          -0.20195985642420697,
          0.7085978283402412
        ],
        "act_eef_pose_r": [
          476.8374644042035,
          -541.1099481268786,
          9.095343346920117,
          1.6819297209447466,
          0.013586634800578591,
          1.6344003780508751
        ],
        "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": [
          0.35514342899024637,
          -0.7943280080838943,
          -0.058784524653879885,
          -0.33161672654995306,
          -0.04696483550800193,
          -1.2760482454277506,
          0.47788532432012254
        ],
        "joint_pos_r": [
          -0.7924686069206842,
          -0.26403112211542573,
          0.2912983436704289,
          -1.2552552654012816,
          1.266521418651958,
          0.4314813196682277,
          -1.3573744311721094
        ],
        "eef_pose_l": [
          553.3609181984439,
          406.08792288262816,
          41.8779557694769,
          1.7098871653290926,
          -0.20196758487205152,
          0.7058768702308368
        ],
        "eef_pose_r": [
          463.1183736595023,
          -549.5362117713371,
          24.933296669796988,
          1.6663025465150088,
          0.016501926367882346,
          1.610441713234779
        ],
        "joint_status_l": {
          "velocity": [
            -0.280732479494894,
            -5.606989865075462,
            0.39314292134495776,
            10.747255318674931,
            -0.23574054429342794,
            -6.690853866093249,
            0.17160612091204897
          ],
          "torque": [
            -42.158203125,
            4.2919921875,
            -4.3212890625,
            2.020263671875,
            -6.3739013671875,
            -2.77587890625,
            0.64544677734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            4.026215386462084,
            -6.366365912249261,
            -4.899051460177439,
            7.472096157206565,
            -8.385035381261119,
            0.4959125013916932,
            7.737330825218436
          ],
          "torque": [
            25.9130859375,
            12.94189453125,
            10.418701171875,
            1.519775390625,
            -1.025390625,
            6.1029052734375,
            0.9210205078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.5,
            -7.9,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.5,
            -7.9,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -16.5,
            -1.1,
            0.9,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -16.5,
            -1.1,
            0.9,
            0.3,
            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": -158,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35514342899024637,
          -0.7943280080838943,
          -0.058784524653879885,
          -0.33161672654995306,
          -0.04696483550800193,
          -1.2760482454277506,
          0.47788532432012254
        ],
        "act_joint_pos_r": [
          -0.7348957906305031,
          -0.35184800711402403,
          0.23205820637971644,
          -1.1653927380959739,
          1.1377898970088403,
          0.42868545719778994,
          -1.2530239623885804
        ],
        "act_eef_pose_l": [
          553.3609181984439,
          406.08792288262816,
          41.8779557694769,
          1.7098871653290926,
          -0.20196758487205152,
          0.7058768702308368
        ],
        "act_eef_pose_r": [
          485.1054644042035,
          -530.9347481268787,
          4.124943346919963,
          1.689638679144916,
          0.019564096435888315,
          1.6604363932758468
        ],
        "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": [
          0.35465203627632313,
          -0.8041424548187177,
          -0.058096369270409995,
          -0.31280478513238735,
          -0.047377474565835326,
          -1.287759882234565,
          0.47818570280725886
        ],
        "joint_pos_r": [
          -0.7827867742975448,
          -0.2790638536967691,
          0.2804463551900204,
          -1.2387458681975034,
          1.2455995835993598,
          0.4318246725632523,
          -1.3393086563616239
        ],
        "eef_pose_l": [
          554.2272464369992,
          405.2829398621853,
          41.52304492780786,
          1.7089626067263188,
          -0.2019993473080911,
          0.7034744001093188
        ],
        "eef_pose_r": [
          466.6940702359076,
          -547.0794518183998,
          20.993749883386812,
          1.6700357717182492,
          0.015970291600969234,
          1.6174545145968002
        ],
        "joint_status_l": {
          "velocity": [
            -0.22766363157344927,
            -4.5470608786484235,
            0.3188243318398287,
            8.71562556529426,
            -0.19117684038361116,
            -5.4260343948122625,
            0.139166201065688
          ],
          "torque": [
            -41.71142578125,
            4.21875,
            -3.717041015625,
            1.86767578125,
            -6.4764404296875,
            -2.8546142578125,
            0.56121826171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            5.172073693881174,
            -7.860456737284416,
            -5.225765945784833,
            7.921904406885005,
            -11.643102756815793,
            -0.3390252604549282,
            9.31847211544401
          ],
          "torque": [
            27.45849609375,
            11.3671875,
            9.87548828125,
            1.348876953125,
            -1.7578125,
            4.595947265625,
            0.93109130859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.8,
            -8.6,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.8,
            -8.6,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -16.7,
            -0.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -16.7,
            -0.5,
            1.0,
            0.2,
            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": -166,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35465203627632313,
          -0.8041424548187177,
          -0.058096369270409995,
          -0.31280478513238735,
          -0.047377474565835326,
          -1.287759882234565,
          0.47818570280725886
        ],
        "act_joint_pos_r": [
          -0.7205287517545451,
          -0.3715509325808771,
          0.2252990521535841,
          -1.1574099620541665,
          1.1032606899394892,
          0.420276397676154,
          -1.226238793847097
        ],
        "act_eef_pose_l": [
          554.2272464369992,
          405.2829398621853,
          41.52304492780786,
          1.7089626067263188,
          -0.2019993473080911,
          0.7034744001093188
        ],
        "act_eef_pose_r": [
          491.1926644042035,
          -521.7627481268787,
          1.8001433469198673,
          1.6942977411670914,
          0.016284315621556293,
          1.6808624602255202
        ],
        "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": [
          0.35427931376501676,
          -0.8115867353919491,
          -0.0575744018186582,
          -0.29853588400904024,
          -0.04769046224664734,
          -1.296643185870252,
          0.47841354058526336
        ],
        "joint_pos_r": [
          -0.7750934784197465,
          -0.29069316420010205,
          0.2729019464305787,
          -1.2273758136865343,
          1.2282163464516491,
          0.4311001743331091,
          -1.3254211768127946
        ],
        "eef_pose_l": [
          554.8596200393614,
          404.6528688689823,
          41.26568669057869,
          1.7082661896600708,
          -0.20203902897291748,
          0.701647321998241
        ],
        "eef_pose_r": [
          469.6283104323904,
          -544.5165838729262,
          18.237489497347838,
          1.6729331069317408,
          0.016052477749231395,
          1.6243983130141386
        ],
        "joint_status_l": {
          "velocity": [
            -0.18741078754658247,
            -3.7431022882312703,
            0.262453509619176,
            7.174629693216694,
            -0.15737516778291383,
            -4.4666658972207784,
            0.11456044674895693
          ],
          "torque": [
            -42.7734375,
            2.1533203125,
            -3.08837890625,
            2.18505859375,
            -6.3134765625,
            -2.6458740234375,
            0.55389404296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            5.892816680503898,
            -8.732381437299708,
            -5.14096095737715,
            7.556089121360188,
            -13.494812895082475,
            -1.1689334031030896,
            10.7113814449864
          ],
          "torque": [
            27.79541015625,
            17.109375,
            10.3759765625,
            3.021240234375,
            -0.8935546875,
            4.28466796875,
            0.70404052734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.0,
            -8.1,
            1.3,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.0,
            -8.1,
            1.3,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.0,
            -17.5,
            3.5,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.0,
            -17.5,
            3.5,
            1.1,
            0.4,
            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": -167,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35427931376501676,
          -0.8115867353919491,
          -0.0575744018186582,
          -0.29853588400904024,
          -0.04769046224664734,
          -1.296643185870252,
          0.47841354058526336
        ],
        "act_joint_pos_r": [
          -0.7052980291900136,
          -0.3950982581294333,
          0.21517888217340322,
          -1.117369079364244,
          1.0301726743403261,
          0.42381894706271045,
          -1.157155058293142
        ],
        "act_eef_pose_l": [
          554.8596200393614,
          404.6528688689823,
          41.26568669057869,
          1.7082661896600708,
          -0.20203902897291748,
          0.701647321998241
        ],
        "act_eef_pose_r": [
          497.4582644042035,
          -519.8691481268787,
          -2.1790566530801243,
          1.7008248314021406,
          0.017354228377525982,
          1.694840944548348
        ],
        "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": [
          0.35397249172718204,
          -0.8177148045758776,
          -0.05714472260054867,
          -0.2867898445627389,
          -0.047948111074209036,
          -1.3039558467413492,
          0.4786010947286879
        ],
        "joint_pos_r": [
          -0.7644046140933316,
          -0.3066429509232215,
          0.263934264063317,
          -1.2113554277260417,
          1.1994267612440495,
          0.4297205472038974,
          -1.3013204518434673
        ],
        "eef_pose_l": [
          555.3984886110908,
          404.0844470763263,
          41.04767210598948,
          1.7076567523208437,
          -0.20208508255044574,
          0.7000358362595196
        ],
        "eef_pose_r": [
          473.8360638818212,
          -540.7806047607099,
          14.916701255091766,
          1.6765577570873107,
          0.015619006084756854,
          1.635174074663677
        ],
        "joint_status_l": {
          "velocity": [
            -0.15427498474851475,
            -3.0812903354666688,
            0.21604952267573196,
            5.906094846451548,
            -0.12954991506824998,
            -3.6769218153978045,
            0.09430519665576398
          ],
          "torque": [
            -43.19091796875,
            4.18212890625,
            -2.667236328125,
            3.0029296875,
            -6.434326171875,
            -2.559814453125,
            0.596923828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            6.383322903513289,
            -9.552891430798738,
            -5.265425948673519,
            10.150226258152983,
            -18.27890227819573,
            -0.6373540174964276,
            15.569403308429486
          ],
          "torque": [
            27.65625,
            15.8349609375,
            8.82568359375,
            3.1005859375,
            -1.3934326171875,
            3.6785888671875,
            0.90545654296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.0,
            -5.7,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.0,
            -5.7,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -16.7,
            1.3,
            1.0,
            0.3,
            -0.1
          ],
          "actual_contact_FT": [
            -1.4,
            -16.7,
            1.3,
            1.0,
            0.3,
            -0.1
          ]
        },
        "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": -152,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35397249172718204,
          -0.8177148045758776,
          -0.05714472260054867,
          -0.2867898445627389,
          -0.047948111074209036,
          -1.3039558467413492,
          0.4786010947286879
        ],
        "act_joint_pos_r": [
          -0.6985959116860312,
          -0.406560224379561,
          0.21220554301771372,
          -1.100155955751788,
          1.0080197713971941,
          0.42451096104963665,
          -1.1410242404176816
        ],
        "act_eef_pose_l": [
          555.3984886110908,
          404.0844470763263,
          41.04767210598948,
          1.7076567523208437,
          -0.20208508255044574,
          0.7000358362595196
        ],
        "act_eef_pose_r": [
          500.7654644042035,
          -519.1555481268787,
          -3.4166566530800537,
          1.7018115171440535,
          0.02234543593246766,
          1.6983391889217243
        ],
        "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": [
          0.3537199184050846,
          -0.822759379609502,
          -0.05679101428050766,
          -0.2771206036393216,
          -0.048160205423007994,
          -1.3099755676930052,
          0.47875548772279
        ],
        "joint_pos_r": [
          -0.7574405914135871,
          -0.3171277561785229,
          0.2583020192094008,
          -1.199993969057523,
          1.1793549883813275,
          0.4290849781253439,
          -1.2843441686632526
        ],
        "eef_pose_l": [
          555.7685426099997,
          403.6757672140438,
          40.89871591877747,
          1.7072289271811258,
          -0.2021238272451738,
          0.6988974056416383
        ],
        "eef_pose_r": [
          476.620356776325,
          -538.5262543291308,
          12.835777786004485,
          1.6788552154531924,
          0.015664319416699938,
          1.6420262452110626
        ],
        "joint_status_l": {
          "velocity": [
            -0.12699787045766797,
            -2.5364922997948014,
            0.1778501507415653,
            4.861847625147853,
            -0.10664440095997652,
            -3.02681112660963,
            0.0776312450647687
          ],
          "torque": [
            -42.35595703125,
            2.57080078125,
            -2.5146484375,
            1.50146484375,
            -6.4471435546875,
            -2.779541015625,
            0.5950927734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            6.355037978750033,
            -9.658421705790676,
            -4.978272602400358,
            10.782187433401091,
            -18.503657698074605,
            -0.49397927503669337,
            15.478095748489906
          ],
          "torque": [
            28.99658203125,
            13.65966796875,
            10.25390625,
            2.532958984375,
            -1.571044921875,
            3.9532470703125,
            0.62255859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.8,
            -16.3,
            -7.4,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.8,
            -16.3,
            -7.4,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.6,
            2.2,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.6,
            2.2,
            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": -99,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3537199184050846,
          -0.822759379609502,
          -0.05679101428050766,
          -0.2771206036393216,
          -0.048160205423007994,
          -1.3099755676930052,
          0.47875548772279
        ],
        "act_joint_pos_r": [
          -0.6828206015165388,
          -0.4345594176158903,
          0.2018871984138696,
          -1.051129444570838,
          0.9702206823230224,
          0.4287020564311595,
          -1.1076533684305037
        ],
        "act_eef_pose_l": [
          555.7685426099997,
          403.6757672140438,
          40.89871591877747,
          1.7072289271811258,
          -0.2021238272451738,
          0.6988974056416383
        ],
        "act_eef_pose_r": [
          508.51986440420353,
          -520.9259481268787,
          -6.971056653080041,
          1.704110332408962,
          0.030376592061947927,
          1.695650793267193
        ],
        "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": [
          0.3535265992070779,
          -0.8266204888972409,
          -0.05652028652434229,
          -0.2697197828197391,
          -0.04832254208260094,
          -1.314583052034325,
          0.4788736598620716
        ],
        "joint_pos_r": [
          -0.7454000651536806,
          -0.3356608358460938,
          0.24898847920622172,
          -1.1782719626076372,
          1.1447697824742287,
          0.42846386295025785,
          -1.2553122138522455
        ],
        "eef_pose_l": [
          556.0714189246102,
          403.3293316552303,
          40.77730017208867,
          1.706872697199127,
          -0.20216017690322657,
          0.6979449036641221
        ],
        "eef_pose_r": [
          481.5876968950288,
          -535.2059223231829,
          9.392755068120863,
          1.6824764298043677,
          0.016812109837254143,
          1.6524271274225066
        ],
        "joint_status_l": {
          "velocity": [
            -0.10612001283227812,
            -2.119504795107474,
            0.14861241539665393,
            4.06258254969627,
            -0.08911255879795466,
            -2.529217493485447,
            0.06486903042368652
          ],
          "torque": [
            -42.20947265625,
            2.29248046875,
            -2.581787109375,
            1.5625,
            -6.5789794921875,
            -3.3929443359375,
            0.5328369140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            6.758382744967761,
            -10.680731819791678,
            -5.0867882987728485,
            13.730986974161752,
            -18.850746843272148,
            0.025724137244331757,
            15.946684983216386
          ],
          "torque": [
            31.6845703125,
            6.90673828125,
            8.551025390625,
            7.757568359375,
            -2.3895263671875,
            4.1748046875,
            0.75439453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.9,
            -16.8,
            -11.7,
            1.5,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.9,
            -16.8,
            -11.7,
            1.5,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.3,
            3.0,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.3,
            3.0,
            1.1,
            0.3,
            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": -83,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3535265992070779,
          -0.8266204888972409,
          -0.05652028652434229,
          -0.2697197828197391,
          -0.04832254208260094,
          -1.314583052034325,
          0.4788736598620716
        ],
        "act_joint_pos_r": [
          -0.6760593113916563,
          -0.4530691340312583,
          0.19751858057266183,
          -1.029666988383669,
          0.9707423842426293,
          0.4246871463975765,
          -1.1112799964740263
        ],
        "act_eef_pose_l": [
          556.0714189246102,
          403.3293316552303,
          40.77730017208867,
          1.706872697199127,
          -0.20216017690322657,
          0.6979449036641221
        ],
        "act_eef_pose_r": [
          513.4958644042035,
          -520.0435481268787,
          -9.974256653080147,
          1.7065870174282585,
          0.03394162002973303,
          1.6908757352066788
        ],
        "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": [
          0.3534288625412473,
          -0.8285725554901217,
          -0.05638341430208892,
          -0.26597813916109403,
          -0.04840461486178841,
          -1.316912464539812,
          0.4789334043210107
        ],
        "joint_pos_r": [
          -0.7322356313343458,
          -0.35713749022903757,
          0.2391419584405331,
          -1.1508623033606424,
          1.109715542008703,
          0.4281669358749959,
          -1.2259318450836778
        ],
        "eef_pose_l": [
          556.2223445842315,
          403.1524735159483,
          40.71697564448857,
          1.7066930364832131,
          -0.20217993133679377,
          0.6974629216843352
        ],
        "eef_pose_r": [
          487.3664189604975,
          -532.561489132517,
          5.6141516196503005,
          1.6861940420498898,
          0.01920622245234713,
          1.6605432138588296
        ],
        "joint_status_l": {
          "velocity": [
            -0.09556476423311366,
            -1.9086878207907887,
            0.13383065135808003,
            3.658496952430257,
            -0.08024896006358917,
            -2.2776483625293054,
            0.0584168191561929
          ],
          "torque": [
            -41.53564453125,
            0.94482421875,
            -2.508544921875,
            1.7333984375,
            -6.6046142578125,
            -2.87109375,
            0.55206298828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            6.066863621232876,
            -10.360311969571434,
            -4.495192231122269,
            13.088707986705472,
            -15.008658382019036,
            -0.3758061797509704,
            12.382034461255742
          ],
          "torque": [
            29.55322265625,
            12.18017578125,
            9.36279296875,
            1.702880859375,
            -1.2890625,
            3.4368896484375,
            0.8111572265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.5,
            -8.4,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.5,
            -8.4,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -16.8,
            1.7,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -16.8,
            1.7,
            1.0,
            0.3,
            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": -47,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3534288625412473,
          -0.8285725554901217,
          -0.05638341430208892,
          -0.26597813916109403,
          -0.04840461486178841,
          -1.316912464539812,
          0.4789334043210107
        ],
        "act_joint_pos_r": [
          -0.6722886787184826,
          -0.46427186684626975,
          0.19583345466371582,
          -1.0163900489026856,
          0.9473601001706555,
          0.41696286969367286,
          -1.0943639132975786
        ],
        "act_eef_pose_l": [
          556.2223445842315,
          403.1524735159483,
          40.71697564448857,
          1.7066930364832131,
          -0.20217993133679377,
          0.6974629216843352
        ],
        "act_eef_pose_r": [
          516.1454644042035,
          -518.4715481268787,
          -13.446256653080127,
          1.7168754767025511,
          0.03765285605882524,
          1.694044658560403
        ],
        "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": [
          0.35325092623950455,
          -0.8321264265715693,
          -0.056134229036435696,
          -0.2591662203238798,
          -0.04855403398385738,
          -1.321153319728977,
          0.4790421732050615
        ],
        "joint_pos_r": [
          -0.7213443546910622,
          -0.3760798645874642,
          0.23115209614313229,
          -1.1269946044694947,
          1.081758558630055,
          0.42695219277986773,
          -1.203038715337918
        ],
        "eef_pose_l": [
          556.4933181402322,
          402.82754491001856,
          40.60898126233039,
          1.7063667110673906,
          -0.20221827007944412,
          0.6965847089340733
        ],
        "eef_pose_r": [
          492.4484822532617,
          -530.3123782607126,
          2.201547924170967,
          1.6902650351995598,
          0.021739334914630464,
          1.6664479498252127
        ],
        "joint_status_l": {
          "velocity": [
            -0.07634821040669593,
            -1.5248810637693566,
            0.1069194363714221,
            2.9228314153064705,
            -0.0641121708093162,
            -1.8196495100522014,
            0.04667012612857846
          ],
          "torque": [
            -41.49169921875,
            0.7470703125,
            -2.020263671875,
            2.008056640625,
            -6.463623046875,
            -2.6568603515625,
            0.0677490234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            5.297856753106345,
            -9.524455335156112,
            -3.814300782988944,
            11.944939704051194,
            -14.514605428211702,
            -1.0788150753593406,
            11.736532469834415
          ],
          "torque": [
            30.2197265625,
            12.9052734375,
            8.30078125,
            1.7578125,
            -0.9320068359375,
            3.380126953125,
            1.06109619140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -15.8,
            -8.3,
            1.3,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.0,
            -15.8,
            -8.3,
            1.3,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -16.2,
            0.9,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -16.2,
            0.9,
            1.1,
            0.3,
            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": -51,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35325092623950455,
          -0.8321264265715693,
          -0.056134229036435696,
          -0.2591662203238798,
          -0.04855403398385738,
          -1.321153319728977,
          0.4790421732050615
        ],
        "act_joint_pos_r": [
          -0.6704747920984655,
          -0.47197382402206145,
          0.1947468395540803,
          -1.0063549319676035,
          0.8935413876888401,
          0.418159585980722,
          -1.0477727784653859
        ],
        "act_eef_pose_l": [
          556.4933181402322,
          402.82754491001856,
          40.60898126233039,
          1.7063667110673906,
          -0.20221827007944412,
          0.6965847089340733
        ],
        "act_eef_pose_r": [
          517.2806644042034,
          -514.5067481268786,
          -16.692656653079894,
          1.7271144084164538,
          0.03760520086534182,
          1.7115032929579104
        ],
        "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": [
          0.35311728671769926,
          -0.8347955706823033,
          -0.05594707779513942,
          -0.2540501109798855,
          -0.04866625560376457,
          -1.3243384250389931,
          0.4791238643580723
        ],
        "joint_pos_r": [
          -0.7113242514296669,
          -0.39447536247210047,
          0.22395675432519782,
          -1.1038919132284861,
          1.0501109003430287,
          0.42504627982483184,
          -1.1771844218516725
        ],
        "eef_pose_l": [
          556.6936078684456,
          402.58100754036417,
          40.52942794779881,
          1.7061222696860727,
          -0.20224907995347088,
          0.6959245039600747
        ],
        "eef_pose_r": [
          497.2949460617914,
          -527.7415222424507,
          -1.3730860311654283,
          1.6958881019709506,
          0.02451798809170981,
          1.6736333637592997
        ],
        "joint_status_l": {
          "velocity": [
            -0.061915567719950104,
            -1.2366220015573859,
            0.08670769842478165,
            2.3703079019650186,
            -0.05199259330718187,
            -1.4756682817544942,
            0.03784774180592976
          ],
          "torque": [
            -41.396484375,
            1.86767578125,
            -2.069091796875,
            1.190185546875,
            -5.643310546875,
            -2.8271484375,
            0.12176513671875
          ]
        },
        "joint_status_r": {
          "velocity": [
            4.41161149424385,
            -8.36958699962187,
            -3.1545777559831567,
            10.533683301793495,
            -16.909008662099545,
            -0.7437409996957633,
            13.976045284298522
          ],
          "torque": [
            30.5126953125,
            12.92724609375,
            9.613037109375,
            1.544189453125,
            -1.322021484375,
            3.2025146484375,
            1.04095458984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -15.9,
            -9.2,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -15.9,
            -9.2,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -16.7,
            1.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -16.7,
            1.5,
            1.0,
            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": -24,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35311728671769926,
          -0.8347955706823033,
          -0.05594707779513942,
          -0.2540501109798855,
          -0.04866625560376457,
          -1.3243384250389931,
          0.4791238643580723
        ],
        "act_joint_pos_r": [
          -0.6723150322244615,
          -0.4722706371019635,
          0.1962256171176481,
          -1.0143252058222438,
          0.8853359205927571,
          0.4157251231003486,
          -1.0421363660579155
        ],
        "act_eef_pose_l": [
          556.6936078684456,
          402.58100754036417,
          40.52942794779881,
          1.7061222696860727,
          -0.20224907995347088,
          0.6959245039600747
        ],
        "act_eef_pose_r": [
          517.0030644042035,
          -510.8075481268786,
          -17.63025665307987,
          1.730122447672652,
          0.03476746803090693,
          1.720192374120266
        ],
        "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": [
          0.3530089100207432,
          -0.836960147586747,
          -0.055795305077840696,
          -0.2499011360024439,
          -0.04875726317643685,
          -1.3269214273446983,
          0.47919011285413277
        ],
        "joint_pos_r": [
          -0.7067146831078192,
          -0.40322050767601186,
          0.22066062507361733,
          -1.0928855648853288,
          1.0324431544899855,
          0.42426916584815244,
          -1.1625812466420538
        ],
        "eef_pose_l": [
          556.8540018770126,
          402.3795021311949,
          40.46589483105126,
          1.7059244449072606,
          -0.20227533509161838,
          0.6953887109915642
        ],
        "eef_pose_r": [
          499.55424424028655,
          -526.2996218379224,
          -3.147151268860881,
          1.699043531170021,
          0.02582640268822728,
          1.6780240764996068
        ],
        "joint_status_l": {
          "velocity": [
            -0.050211229649654854,
            -1.0028545904781083,
            0.07031672838231362,
            1.9222318196989718,
            -0.04216406533552597,
            -1.1967122601070912,
            0.030693115245838953
          ],
          "torque": [
            -39.44091796875,
            3.20068359375,
            -2.069091796875,
            2.081298828125,
            -5.91796875,
            -3.0413818359375,
            0.19775390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.913792797861859,
            -7.425139172599238,
            -2.7986062956295576,
            9.34503273810705,
            -15.000948385201163,
            -0.65981516547442,
            12.398948875631532
          ],
          "torque": [
            30.8935546875,
            13.4326171875,
            9.60693359375,
            1.62353515625,
            -0.7708740234375,
            3.2977294921875,
            0.82672119140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.9,
            -16.1,
            -8.6,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.9,
            -16.1,
            -8.6,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.0,
            1.9,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.0,
            1.9,
            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": -38,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3530089100207432,
          -0.836960147586747,
          -0.055795305077840696,
          -0.2499011360024439,
          -0.04875726317643685,
          -1.3269214273446983,
          0.47919011285413277
        ],
        "act_joint_pos_r": [
          -0.6697766208102238,
          -0.4805600243484553,
          0.19454296423080603,
          -1.0103491679320062,
          0.8391845309802002,
          0.4255102531675592,
          -0.9952176676865199
        ],
        "act_eef_pose_l": [
          556.8540018770126,
          402.3795021311949,
          40.46589483105126,
          1.7059244449072606,
          -0.20227533509161838,
          0.6953887109915642
        ],
        "act_eef_pose_r": [
          518.4638644042035,
          -503.55554812687865,
          -18.96865665307996,
          1.7311590713357814,
          0.024153928167916738,
          1.7438011940034157
        ],
        "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": [
          0.35292670604516124,
          -0.8386019841807387,
          -0.05568018512034735,
          -0.24675412887530732,
          -0.048826292631032324,
          -1.32888064057439,
          0.4792403624917897
        ],
        "joint_pos_r": [
          -0.6998694749270411,
          -0.41731455563249964,
          0.21581136825153407,
          -1.0774362110922342,
          0.9989186973068884,
          0.423916934100645,
          -1.1339688491558713
        ],
        "eef_pose_l": [
          556.974445724611,
          402.2257210405017,
          40.418291816939785,
          1.7057746386234267,
          -0.2022960078773294,
          0.6949820770972922
        ],
        "eef_pose_r": [
          503.0898885968745,
          -522.5616877431462,
          -6.049129658532735,
          1.7042650340912515,
          0.026026739796460755,
          1.6890968422762762
        ],
        "joint_status_l": {
          "velocity": [
            -0.041333462122317144,
            -0.8255414678979278,
            0.05788413965263084,
            1.58236507380205,
            -0.03470910411151884,
            -0.9851234717785928,
            0.025266314433558534
          ],
          "torque": [
            -40.6787109375,
            2.98828125,
            -2.203369140625,
            1.971435546875,
            -6.1962890625,
            -2.51953125,
            0.26275634765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.2499323929844337,
            -6.830309172122018,
            -2.2969198902078602,
            7.2451869759371235,
            -17.250781178688612,
            0.17207338419344964,
            14.984685649011453
          ],
          "torque": [
            31.4208984375,
            11.56494140625,
            8.624267578125,
            0.57373046875,
            -1.256103515625,
            4.8193359375,
            0.91094970703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -16.3,
            -8.2,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.0,
            -16.3,
            -8.2,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -16.9,
            2.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -16.9,
            2.2,
            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": 53,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35292670604516124,
          -0.8386019841807387,
          -0.05568018512034735,
          -0.24675412887530732,
          -0.048826292631032324,
          -1.32888064057439,
          0.4792403624917897
        ],
        "act_joint_pos_r": [
          -0.664528580165669,
          -0.4911598913826722,
          0.19255429260693574,
          -1.0045528923861522,
          0.7803667505490387,
          0.44727458357888683,
          -0.9306997087013703
        ],
        "act_eef_pose_l": [
          556.974445724611,
          402.2257210405017,
          40.418291816939785,
          1.7057746386234267,
          -0.2022960078773294,
          0.6949820770972922
        ],
        "act_eef_pose_r": [
          520.5942644042035,
          -493.3867481268786,
          -18.36385665308012,
          1.7244483256661434,
          0.005486827724982777,
          1.7782487866064596
        ],
        "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": [
          0.3528590364235497,
          -0.8399535302620171,
          -0.05558541933915061,
          -0.24416353906509025,
          -0.04888311709772572,
          -1.3304934484339965,
          0.47928172757106086
        ],
        "joint_pos_r": [
          -0.6961687497921555,
          -0.42506730888112226,
          0.21329582021346769,
          -1.069529099407051,
          0.977475954410218,
          0.4253614492884178,
          -1.1145626493605607
        ],
        "eef_pose_l": [
          557.0728069105833,
          402.09852233925744,
          40.37948575092051,
          1.7056514777387959,
          -0.20231351634306705,
          0.6946471882061279
        ],
        "eef_pose_r": [
          505.0141976750918,
          -519.8778196171987,
          -7.421970902227031,
          1.7062321953734336,
          0.024690778061625167,
          1.6973060634408197
        ],
        "joint_status_l": {
          "velocity": [
            -0.034025358529365946,
            -0.679578796058955,
            0.04764973713095033,
            1.302589625834294,
            -0.028572242705693363,
            -0.810945360049331,
            0.020799017628192473
          ],
          "torque": [
            -41.8798828125,
            3.37646484375,
            -5.48095703125,
            1.69677734375,
            -6.448974609375,
            -2.5726318359375,
            0.34423828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.4170375395259356,
            -7.137788392351574,
            -2.240018915679043,
            7.017223396315941,
            -21.287166185601336,
            2.3665487057473733,
            19.856611951728276
          ],
          "torque": [
            31.72119140625,
            11.68212890625,
            8.319091796875,
            2.67333984375,
            -3.314208984375,
            5.8282470703125,
            0.7379150390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.4,
            -8.1,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.4,
            -8.1,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.5,
            3.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.5,
            3.5,
            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": 83,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3528590364235497,
          -0.8399535302620171,
          -0.05558541933915061,
          -0.24416353906509025,
          -0.04888311709772572,
          -1.3304934484339965,
          0.47928172757106086
        ],
        "act_joint_pos_r": [
          -0.654564223016981,
          -0.5017238878830328,
          0.19063241499019395,
          -1.0033338866188077,
          0.7221321374153886,
          0.46805356978833207,
          -0.8765684629449626
        ],
        "act_eef_pose_l": [
          557.0728069105833,
          402.09852233925744,
          40.37948575092051,
          1.7056514777387959,
          -0.20231351634306705,
          0.6946471882061279
        ],
        "act_eef_pose_r": [
          523.3974644042034,
          -481.34274812687863,
          -15.525456653080028,
          1.714939281906197,
          -0.0044775491100801194,
          1.818498530584946
        ],
        "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": [
          0.3528112120293808,
          -0.8409087132671705,
          -0.05551844517902166,
          -0.24233268224539392,
          -0.048923276856696785,
          -1.3316332739119525,
          0.4793109616617619
        ],
        "joint_pos_r": [
          -0.6890879674441186,
          -0.4391191584290684,
          0.2089864582349969,
          -1.0563755253807134,
          0.9336416117289141,
          0.43126603323486107,
          -1.0736877794481083
        ],
        "eef_pose_l": [
          557.1418931946565,
          402.00829608162985,
          40.35226747450497,
          1.7055645221742253,
          -0.20232615744931012,
          0.6944104285830016
        ],
        "eef_pose_r": [
          508.5414955980689,
          -513.80478609574,
          -9.242217402241238,
          1.7075841467015207,
          0.02012725652452363,
          1.716304992643166
        ],
        "joint_status_l": {
          "velocity": [
            -0.028860476289249704,
            -0.576422073947036,
            0.040416741162840886,
            1.1048629209444716,
            -0.024235116653503752,
            -0.6878478389982234,
            0.017641828948811167
          ],
          "torque": [
            -42.6708984375,
            2.6806640625,
            -4.33349609375,
            1.629638671875,
            -6.6888427734375,
            -2.5396728515625,
            0.43304443359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.72845443324632,
            -6.761111372707074,
            -1.9821782092173112,
            5.728328038282271,
            -22.84234952677444,
            3.9729367722678433,
            21.288258318723052
          ],
          "torque": [
            31.97021484375,
            10.1806640625,
            9.68017578125,
            -0.0732421875,
            -1.3421630859375,
            6.2750244140625,
            1.53533935546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.3,
            -8.6,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.3,
            -8.6,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -16.8,
            2.9,
            1.2,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -16.8,
            2.9,
            1.2,
            0.0,
            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": 61,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3528112120293808,
          -0.8409087132671705,
          -0.05551844517902166,
          -0.24233268224539392,
          -0.048923276856696785,
          -1.3316332739119525,
          0.4793109616617619
        ],
        "act_joint_pos_r": [
          -0.6465980032330693,
          -0.5134469698694633,
          0.18864612879347342,
          -1.0004165675751735,
          0.6993233702849166,
          0.4918249967571304,
          -0.8507109664441075
        ],
        "act_eef_pose_l": [
          557.1418931946565,
          402.00829608162985,
          40.35226747450497,
          1.7055645221742253,
          -0.20232615744931012,
          0.6944104285830016
        ],
        "act_eef_pose_r": [
          526.4622644042036,
          -471.21714812687867,
          -11.683856653080056,
          1.6964178288998104,
          -0.016458340765737333,
          1.8483932302010075
        ],
        "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": [
          0.3527775346772128,
          -0.8415813414312805,
          -0.055471282796392046,
          -0.24104341531462098,
          -0.048951556866707505,
          -1.3324359250421625,
          0.4793315479500978
        ],
        "joint_pos_r": [
          -0.6814616060244217,
          -0.45271482055597567,
          0.20512515822256067,
          -1.0454591391707753,
          0.8891514706277968,
          0.44070505102625596,
          -1.0318294274221909
        ],
        "eef_pose_l": [
          557.1903297306327,
          401.9445955911325,
          40.33320374969685,
          1.7055033320912114,
          -0.20233519197860686,
          0.6942436644116363
        ],
        "eef_pose_r": [
          512.0726693314426,
          -506.5714173395742,
          -9.951663689801677,
          1.7055719906639337,
          0.014173510114732883,
          1.7388695793080886
        ],
        "joint_status_l": {
          "velocity": [
            -0.025223429524157126,
            -0.5037803746761327,
            0.035323354060257106,
            0.9656261989887671,
            -0.021180965649736372,
            -0.6011640735366086,
            0.01541857538001068
          ],
          "torque": [
            -42.73681640625,
            2.76123046875,
            -3.9794921875,
            1.72119140625,
            -6.8646240234375,
            -2.52685546875,
            0.472412109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.7651580540662977,
            -6.558878682069835,
            -1.7796826894063145,
            4.864454262916595,
            -20.50083019736526,
            5.520791311898421,
            19.56021688787324
          ],
          "torque": [
            33.1201171875,
            11.4404296875,
            9.21630859375,
            1.678466796875,
            -1.160888671875,
            5.74951171875,
            1.00067138671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.6,
            -16.6,
            -8.7,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.6,
            -16.6,
            -8.7,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.6,
            2.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.6,
            2.6,
            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": 152,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3527775346772128,
          -0.8415813414312805,
          -0.055471282796392046,
          -0.24104341531462098,
          -0.048951556866707505,
          -1.3324359250421625,
          0.4793315479500978
        ],
        "act_joint_pos_r": [
          -0.642468367325316,
          -0.5191840856527657,
          0.18786515310255894,
          -0.9991537682431122,
          0.685315379623145,
          0.5012016124860691,
          -0.8366184435983545
        ],
        "act_eef_pose_l": [
          557.1903297306327,
          401.9445955911325,
          40.33320374969685,
          1.7055033320912114,
          -0.20233519197860686,
          0.6942436644116363
        ],
        "act_eef_pose_r": [
          527.8862644042035,
          -466.28114812687863,
          -10.135856653079827,
          1.6897217855022237,
          -0.021103535285420884,
          1.863087753199653
        ],
        "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": [
          0.3527362398075359,
          -0.8424061121032511,
          -0.055413452702309296,
          -0.23946252767181667,
          -0.04898623356343899,
          -1.333420128718643,
          0.4793567906737453
        ],
        "joint_pos_r": [
          -0.6749996739833374,
          -0.46386643120842685,
          0.20215521756766136,
          -1.0374041838005492,
          0.8545782659849205,
          0.45041955758554414,
          -0.9987900653225456
        ],
        "eef_pose_l": [
          557.2494816689455,
          401.8663013795127,
          40.30994426490989,
          1.7054283498498122,
          -0.20234641984488103,
          0.6940391334807493
        ],
        "eef_pose_r": [
          514.9788057056822,
          -500.11727493428,
          -9.971649136128917,
          1.7019584857212973,
          0.008411394312412676,
          1.7586600066703344
        ],
        "joint_status_l": {
          "velocity": [
            -0.020763715131266736,
            -0.4147077691589729,
            0.029077888099526827,
            0.7948953690024574,
            -0.017435992854808458,
            -0.4948732113572163,
            0.012692441629269524
          ],
          "torque": [
            -43.08837890625,
            3.40576171875,
            -3.118896484375,
            2.532958984375,
            -6.42333984375,
            -2.5689697265625,
            0.52001953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.5132775004855787,
            -5.974130482428119,
            -1.5432814455780264,
            4.130923045140733,
            -18.27985259163878,
            5.484300178468793,
            17.51401859784618
          ],
          "torque": [
            31.904296875,
            10.458984375,
            8.782958984375,
            0.03662109375,
            -0.640869140625,
            5.8538818359375,
            0.98236083984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.2,
            -8.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.2,
            -8.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.0,
            3.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.0,
            3.4,
            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": 133,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3527362398075359,
          -0.8424061121032511,
          -0.055413452702309296,
          -0.23946252767181667,
          -0.04898623356343899,
          -1.333420128718643,
          0.4793567906737453
        ],
        "act_joint_pos_r": [
          -0.6382595043741142,
          -0.5267793015445652,
          0.1873902824386252,
          -1.011365554872974,
          0.6969746552080602,
          0.503924742530226,
          -0.8349558632908142
        ],
        "act_eef_pose_l": [
          557.2494816689455,
          401.8663013795127,
          40.30994426490989,
          1.7054283498498122,
          -0.20234641984488103,
          0.6940391334807493
        ],
        "act_eef_pose_r": [
          530.1302644042034,
          -457.4163481268787,
          -7.271856653080022,
          1.6763895997321385,
          -0.0406780487865021,
          1.8766963159825552
        ],
        "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": [
          0.3526975789191788,
          -0.8431782750164385,
          -0.05535931128405287,
          -0.23798247649010784,
          -0.04901869841709812,
          -1.334341555248256,
          0.47938042329756536
        ],
        "joint_pos_r": [
          -0.6680966639202423,
          -0.4756422531516391,
          0.19924092825792558,
          -1.0307614535048173,
          0.8215435590943231,
          0.46086489933788066,
          -0.9660371399113071
        ],
        "eef_pose_l": [
          557.3046204288465,
          401.7928162365057,
          40.28828452750693,
          1.7053581987824888,
          -0.2023570811143683,
          0.6938476023795428
        ],
        "eef_pose_r": [
          518.034101832547,
          -492.68559886591527,
          -9.650075580744499,
          1.697156466624069,
          0.0006805810089066924,
          1.7801920670946427
        ],
        "joint_status_l": {
          "velocity": [
            -0.01658846233132394,
            -0.33131663402485856,
            0.02323078737881401,
            0.6350545556308429,
            -0.01392989206649986,
            -0.3953620810825953,
            0.010140193531071873
          ],
          "torque": [
            -43.1982421875,
            3.69140625,
            -2.581787109375,
            2.703857421875,
            -6.5625,
            -2.706298828125,
            0.574951171875
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.222318193787821,
            -5.522638344924502,
            -1.2798320018574394,
            2.094695272504943,
            -13.45304484336829,
            4.6503259107417705,
            14.156360355483066
          ],
          "torque": [
            32.74658203125,
            9.755859375,
            9.47265625,
            0.2197265625,
            -0.5987548828125,
            6.016845703125,
            0.7452392578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.4,
            -8.0,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.4,
            -8.0,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.0,
            1.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.0,
            1.6,
            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": 148,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3526975789191788,
          -0.8431782750164385,
          -0.05535931128405287,
          -0.23798247649010784,
          -0.04901869841709812,
          -1.334341555248256,
          0.47938042329756536
        ],
        "act_joint_pos_r": [
          -0.6323253759043911,
          -0.5437967978047875,
          0.1846002860479647,
          -1.0120284979616838,
          0.7108240115297453,
          0.505656475413599,
          -0.8373849595128978
        ],
        "act_eef_pose_l": [
          557.3046204288465,
          401.7928162365057,
          40.28828452750693,
          1.7053581987824888,
          -0.2023570811143683,
          0.6938476023795428
        ],
        "act_eef_pose_r": [
          534.5790644042036,
          -448.1267481268786,
          -6.248656653079934,
          1.664571858831439,
          -0.0576460084895703,
          1.887371164021532
        ],
        "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": [
          0.3526685425585149,
          -0.8437582099789134,
          -0.05531864823118067,
          -0.2368708802040566,
          -0.0490430812298013,
          -1.3350335950377206,
          0.47939817264109663
        ],
        "joint_pos_r": [
          -0.6642483812156494,
          -0.48233943000879154,
          0.19770604358648772,
          -1.028326997212553,
          0.8060509068820727,
          0.46631709992608206,
          -0.9495541371108056
        ],
        "eef_pose_l": [
          557.3458797692341,
          401.73750747397764,
          40.27209081074099,
          1.705305542474011,
          -0.2023651833973338,
          0.6937037231219175
        ],
        "eef_pose_r": [
          520.0123456257322,
          -487.5826079206971,
          -9.287910250852065,
          1.6934625838218822,
          -0.005731768319543278,
          1.7935331477583336
        ],
        "joint_status_l": {
          "velocity": [
            -0.013452627865895295,
            -0.2686855052838055,
            0.018839307188434073,
            0.5150056973890482,
            -0.01129662595861225,
            -0.32062398810239756,
            0.008223320964617642
          ],
          "torque": [
            -43.55712890625,
            3.984375,
            -1.94091796875,
            2.52685546875,
            -6.6778564453125,
            -2.7447509765625,
            0.5621337890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.44758289259417,
            -6.637199968217988,
            -1.415380069756722,
            1.7601860051827956,
            -10.284201381745461,
            4.248527249038236,
            12.113913899781892
          ],
          "torque": [
            31.5380859375,
            11.9677734375,
            9.210205078125,
            1.4404296875,
            -0.5584716796875,
            5.277099609375,
            0.86883544921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.5,
            -8.1,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -16.5,
            -8.1,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.0,
            2.0,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.0,
            2.0,
            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": 127,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3526685425585149,
          -0.8437582099789134,
          -0.05531864823118067,
          -0.2368708802040566,
          -0.0490430812298013,
          -1.3350335950377206,
          0.47939817264109663
        ],
        "act_joint_pos_r": [
          -0.6304728611584633,
          -0.5580121428468008,
          0.1823006231718724,
          -1.0124645456010357,
          0.7315275092630746,
          0.512360657492176,
          -0.849336069220551
        ],
        "act_eef_pose_l": [
          557.3458797692341,
          401.73750747397764,
          40.27209081074099,
          1.705305542474011,
          -0.2023651833973338,
          0.6937037231219175
        ],
        "act_eef_pose_r": [
          537.6454644042035,
          -440.4091481268787,
          -5.57105665307995,
          1.650730057563916,
          -0.07072937622848935,
          1.8964888766250376
        ],
        "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": [
          0.35264806464639903,
          -0.8441672094858379,
          -0.05528997058687415,
          -0.2360869262052259,
          -0.04906027722421153,
          -1.3355216565462993,
          0.4794106903770882
        ],
        "joint_pos_r": [
          -0.6587913450271345,
          -0.4940468343256338,
          0.19529201771665852,
          -1.0256968047934907,
          0.7927322905310692,
          0.4735408286235674,
          -0.9324626443965146
        ],
        "eef_pose_l": [
          557.3748991307585,
          401.69844030691087,
          40.260708304425606,
          1.7052684224916814,
          -0.20237094659590832,
          0.6936022370549857
        ],
        "eef_pose_r": [
          522.7815033816566,
          -480.8250333432963,
          -8.874393146628535,
          1.6873930200777338,
          -0.015424240950846041,
          1.8082678056773736
        ],
        "joint_status_l": {
          "velocity": [
            -0.011241078583523745,
            -0.22451486128005627,
            0.015742212947200684,
            0.4303411625623532,
            -0.009439513334930094,
            -0.26791489974797855,
            0.006871445349165839
          ],
          "torque": [
            -43.35205078125,
            4.4384765625,
            -1.580810546875,
            2.215576171875,
            -6.7657470703125,
            -2.757568359375,
            0.5548095703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.058306057901028,
            -6.908049578254527,
            -1.403029230701902,
            1.4290418454487863,
            -6.6099214277315355,
            4.192417869053777,
            8.97740534458702
          ],
          "torque": [
            32.900390625,
            9.6826171875,
            9.332275390625,
            -0.225830078125,
            -0.615234375,
            5.7366943359375,
            0.7012939453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.7,
            -7.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -16.7,
            -7.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.2,
            1.4,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.2,
            1.4,
            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": 114,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35264806464639903,
          -0.8441672094858379,
          -0.05528997058687415,
          -0.2360869262052259,
          -0.04906027722421153,
          -1.3355216565462993,
          0.4794106903770882
        ],
        "act_joint_pos_r": [
          -0.6297966344990331,
          -0.5758924917246504,
          0.17921732903126067,
          -1.0032327315216047,
          0.7359280937288649,
          0.5175691896643119,
          -0.844065374459124
        ],
        "act_eef_pose_l": [
          557.3748991307585,
          401.69844030691087,
          40.260708304425606,
          1.7052684224916814,
          -0.20237094659590832,
          0.6936022370549857
        ],
        "act_eef_pose_r": [
          540.8886644042035,
          -433.4643481268787,
          -8.076656653080136,
          1.64635357085259,
          -0.08556583752133322,
          1.904786072652964
        ],
        "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": [
          0.3526296611666227,
          -0.8445347769464089,
          -0.0552641980157232,
          -0.23538238750609233,
          -0.04907573124772587,
          -1.3359602769511496,
          0.4794219400542946
        ],
        "joint_pos_r": [
          -0.6533441027779489,
          -0.5086241043542178,
          0.19240756964588038,
          -1.0219121503740531,
          0.7817740199728143,
          0.4816032268374537,
          -0.9160159873774609
        ],
        "eef_pose_l": [
          557.4009231753553,
          401.66328790314367,
          40.25050576664435,
          1.705235074034447,
          -0.20237616059704275,
          0.6935110209491846
        ],
        "eef_pose_r": [
          526.2808442497557,
          -472.35237637349087,
          -8.77559806605612,
          1.6798474956226133,
          -0.028319449544505455,
          1.8254841292828616
        ],
        "joint_status_l": {
          "velocity": [
            -0.009253561386479703,
            -0.1848187463124873,
            0.012958857353584374,
            0.35425322714943697,
            -0.007770528019424017,
            -0.22054529311610338,
            0.005656516043117676
          ],
          "torque": [
            -43.24951171875,
            4.18212890625,
            -1.01318359375,
            1.8310546875,
            -6.8096923828125,
            -2.7667236328125,
            0.560302734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.543051570826016,
            -7.264771573022077,
            -1.4245039728801867,
            2.0173177384590346,
            -4.951214006095661,
            3.884209426666896,
            7.770437018391085
          ],
          "torque": [
            33.69140625,
            8.61328125,
            9.08203125,
            -0.494384765625,
            -0.6207275390625,
            5.855712890625,
            0.8514404296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.5,
            -8.5,
            1.4,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -16.5,
            -8.5,
            1.4,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.9,
            -16.8,
            2.1,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.9,
            -16.8,
            2.1,
            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": 125,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3526296611666227,
          -0.8445347769464089,
          -0.0552641980157232,
          -0.23538238750609233,
          -0.04907573124772587,
          -1.3359602769511496,
          0.4794219400542946
        ],
        "act_joint_pos_r": [
          -0.629355250737815,
          -0.5845413648168212,
          0.17805593815994836,
          -1.0004398073103693,
          0.7334392259640592,
          0.5209084791755857,
          -0.8379743930958985
        ],
        "act_eef_pose_l": [
          557.4009231753553,
          401.66328790314367,
          40.25050576664435,
          1.705235074034447,
          -0.20237616059704275,
          0.6935110209491846
        ],
        "act_eef_pose_r": [
          542.2446644042035,
          -428.98194812687865,
          -9.107056653080008,
          1.6440919739719964,
          -0.0930927660444825,
          1.9125737499498943
        ],
        "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": [
          0.3526211386249,
          -0.8447049952451585,
          -0.05525226289173563,
          -0.23505611983652394,
          -0.049082887913844686,
          -1.3361633994446216,
          0.4794271497127137
        ],
        "joint_pos_r": [
          -0.6506551154344604,
          -0.5168384579778362,
          0.1908354073421538,
          -1.0196029372936761,
          0.7764211845001998,
          0.485902496238746,
          -0.9074577066698514
        ],
        "eef_pose_l": [
          557.4129569138539,
          401.6469953168796,
          40.245789663501085,
          1.7052196341669157,
          -0.20237858627241054,
          0.693468775890857
        ],
        "eef_pose_r": [
          528.154710616546,
          -467.7145386678097,
          -8.869353565813327,
          1.6759226758325074,
          -0.03551428505736599,
          1.8346762110471877
        ],
        "joint_status_l": {
          "velocity": [
            -0.008333154026374245,
            -0.1664357122264093,
            0.011669901978650365,
            0.3190173580625011,
            -0.00699763087397276,
            -0.19860871080545905,
            0.005093889527962858
          ],
          "torque": [
            -43.388671875,
            4.10888671875,
            -0.836181640625,
            2.13623046875,
            -6.6558837890625,
            -2.65869140625,
            0.54473876953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.3003175429989753,
            -7.311698291596169,
            -1.3801419665668835,
            2.069556999876987,
            -4.641914615949538,
            3.78053465626893,
            7.503976548028923
          ],
          "torque": [
            33.94775390625,
            11.0888671875,
            9.454345703125,
            0.225830078125,
            -0.1519775390625,
            5.789794921875,
            0.8038330078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.3,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.3,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.2,
            2.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.2,
            2.0,
            1.1,
            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": 137,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3526211386249,
          -0.8447049952451585,
          -0.05525226289173563,
          -0.23505611983652394,
          -0.049082887913844686,
          -1.3361633994446216,
          0.4794271497127137
        ],
        "act_joint_pos_r": [
          -0.6268575405830544,
          -0.6052483107259994,
          0.17462061321753392,
          -0.9881264009540082,
          0.7255478596708205,
          0.5297353160653303,
          -0.8282656907044916
        ],
        "act_eef_pose_l": [
          557.4129569138539,
          401.6469953168796,
          40.245789663501085,
          1.7052196341669157,
          -0.20237858627241054,
          0.693468775890857
        ],
        "act_eef_pose_r": [
          545.8406644042035,
          -420.16114812687863,
          -11.343056653080112,
          1.6391431644012673,
          -0.10176236432552438,
          1.9283035873765435
        ],
        "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": [
          0.35260562275332125,
          -0.8450148893295436,
          -0.055230534180149844,
          -0.23446212717258552,
          -0.049095917115231556,
          -1.3365331978716706,
          0.47943663425308114
        ],
        "joint_pos_r": [
          -0.6458708283363166,
          -0.5333155577091465,
          0.18777229669030504,
          -1.0142973522201102,
          0.7664831679338819,
          0.49423505847444904,
          -0.8916954080295161
        ],
        "eef_pose_l": [
          557.43483615961,
          401.6173112526398,
          40.23721770488973,
          1.7051915306888263,
          -0.20238302042575718,
          0.693391860300741
        ],
        "eef_pose_r": [
          531.7386426782548,
          -458.72872403485957,
          -9.316357050480747,
          1.6686936270208474,
          -0.048961034142296536,
          1.8522981668891223
        ],
        "joint_status_l": {
          "velocity": [
            -0.006657489316719278,
            -0.13296813818630682,
            0.009323270337591172,
            0.2548680423402061,
            -0.005590518624754015,
            -0.1586716585642023,
            0.0040695893783748716
          ],
          "torque": [
            -43.32275390625,
            3.486328125,
            -2.84423828125,
            1.94091796875,
            -6.2384033203125,
            -2.830810546875,
            0.5712890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.0533745163087147,
            -7.76850820591779,
            -1.4203399243724046,
            2.8263793771357015,
            -4.420882905439072,
            3.833914744543865,
            6.8502074350345055
          ],
          "torque": [
            33.15673828125,
            7.39013671875,
            8.7158203125,
            -0.146484375,
            -0.40283203125,
            5.518798828125,
            0.81390380859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.6,
            -8.5,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.6,
            -8.5,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.9,
            -16.6,
            2.0,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.9,
            -16.6,
            2.0,
            1.0,
            0.1,
            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": 156,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35260562275332125,
          -0.8450148893295436,
          -0.055230534180149844,
          -0.23446212717258552,
          -0.049095917115231556,
          -1.3365331978716706,
          0.47943663425308114
        ],
        "act_joint_pos_r": [
          -0.6254890725075417,
          -0.6265635550075184,
          0.17186107128988,
          -0.9852130372218213,
          0.7366142047237201,
          0.5340534092323813,
          -0.835842052431497
        ],
        "act_eef_pose_l": [
          557.43483615961,
          401.6173112526398,
          40.23721770488973,
          1.7051915306888263,
          -0.20238302042575718,
          0.693391860300741
        ],
        "act_eef_pose_r": [
          549.4790644042034,
          -409.10674812687864,
          -12.783056653079939,
          1.629874943409585,
          -0.11325754068128488,
          1.942834314853871
        ],
        "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": [
          0.35259396951765276,
          -0.8452476360869047,
          -0.05521421477484957,
          -0.2340160074387981,
          -0.04910570273079057,
          -1.3368109359412563,
          0.47944375764177044
        ],
        "joint_pos_r": [
          -0.6424104502760469,
          -0.5475707395633751,
          0.18524800068815755,
          -1.0094600493982406,
          0.7600433641187185,
          0.500823144534357,
          -0.8810267696818613
        ],
        "eef_pose_l": [
          557.4512440049277,
          401.59499803600573,
          40.23079162453928,
          1.7051704284735747,
          -0.20238636602580837,
          0.6933340879231238
        ],
        "eef_pose_r": [
          534.6877603900364,
          -451.2352670077721,
          -9.938473999248629,
          1.6628919571221377,
          -0.05939301615499952,
          1.866389535066399
        ],
        "joint_status_l": {
          "velocity": [
            -0.005398976982373682,
            -0.10783222973476114,
            0.007560826545682797,
            0.20668853206973203,
            -0.004533703313491788,
            -0.12867683170014743,
            0.003300286089302773
          ],
          "torque": [
            -43.41064453125,
            3.4716796875,
            -2.5390625,
            1.531982421875,
            -6.2310791015625,
            -2.896728515625,
            0.56854248046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.8274549010977026,
            -8.530972460384145,
            -1.4457457350227632,
            2.618600083573064,
            -2.530274588200321,
            3.588762742487095,
            4.8798055408685315
          ],
          "torque": [
            33.4716796875,
            7.6611328125,
            9.06982421875,
            -1.300048828125,
            -0.2508544921875,
            5.6890869140625,
            0.50537109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.8,
            -8.6,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.8,
            -8.6,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.9,
            -17.1,
            0.3,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.9,
            -17.1,
            0.3,
            1.1,
            0.0,
            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": 61,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35259396951765276,
          -0.8452476360869047,
          -0.05521421477484957,
          -0.2340160074387981,
          -0.04910570273079057,
          -1.3368109359412563,
          0.47944375764177044
        ],
        "act_joint_pos_r": [
          -0.6340377271949875,
          -0.639004651062872,
          0.17103956900856696,
          -0.9997590789695169,
          0.7685430778505493,
          0.5387949737031045,
          -0.8468999145506184
        ],
        "act_eef_pose_l": [
          557.4512440049277,
          401.59499803600573,
          40.23079162453928,
          1.7051704284735747,
          -0.20238636602580837,
          0.6933340879231238
        ],
        "act_eef_pose_r": [
          549.1902644042035,
          -397.94994812687867,
          -15.241456653079922,
          1.6188545767216478,
          -0.14478222085284403,
          1.9557159870335743
        ],
        "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": [
          0.35258451917561656,
          -0.8454363850770931,
          -0.055200980342259315,
          -0.23365422087639795,
          -0.04911363850216747,
          -1.3370361712174235,
          0.47944953444586885
        ],
        "joint_pos_r": [
          -0.6400039990517254,
          -0.5611030391678563,
          0.18301118236295058,
          -1.0061126243215965,
          0.7575936153221748,
          0.5064942321607884,
          -0.8740841286129449
        ],
        "eef_pose_l": [
          557.4645346501247,
          401.57689092568666,
          40.22558781572553,
          1.7051533184940009,
          -0.20238908883210344,
          0.6932872336914158
        ],
        "eef_pose_r": [
          537.3025040490687,
          -443.91531755826924,
          -10.682130651411825,
          1.6571705317912,
          -0.06986521490957412,
          1.8792052655040732
        ],
        "joint_status_l": {
          "velocity": [
            -0.004378370143776067,
            -0.08744793999682088,
            0.00613154998019283,
            0.1676167356916558,
            -0.003676665281782121,
            -0.10435213929227416,
            0.002676409646795719
          ],
          "torque": [
            -43.4912109375,
            3.24462890625,
            -2.2705078125,
            1.85546875,
            -6.23291015625,
            -2.786865234375,
            0.56854248046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6443383567846794,
            -8.413125952775324,
            -1.292896110341113,
            0.6861626607390647,
            1.1825070768818335,
            3.48837720238393,
            2.9358085316868454
          ],
          "torque": [
            35.20751953125,
            9.7265625,
            8.59375,
            0.384521484375,
            0.1739501953125,
            5.0701904296875,
            0.648193359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.4,
            -8.3,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.4,
            -8.3,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.0,
            1.7,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.0,
            1.7,
            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": 80,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35258451917561656,
          -0.8454363850770931,
          -0.055200980342259315,
          -0.23365422087639795,
          -0.04911363850216747,
          -1.3370361712174235,
          0.47944953444586885
        ],
        "act_joint_pos_r": [
          -0.6394630703646792,
          -0.6458654834341135,
          0.17038485248997032,
          -1.0004332826506372,
          0.7783915215147333,
          0.545169256232528,
          -0.8498488424396197
        ],
        "act_eef_pose_l": [
          557.4645346501247,
          401.57689092568666,
          40.22558781572553,
          1.7051533184940009,
          -0.20238908883210344,
          0.6932872336914158
        ],
        "act_eef_pose_r": [
          548.8542644042035,
          -393.75794812687866,
          -17.447856653079953,
          1.6146274641023521,
          -0.15629089560028134,
          1.9616190566696012
        ],
        "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": [
          0.3525773510693005,
          -0.84557955162319,
          -0.05519094199449593,
          -0.23337980493111854,
          -0.049119657803131746,
          -1.3372070126959175,
          0.47945391616515354
        ],
        "joint_pos_r": [
          -0.6396353828240103,
          -0.5746838965499333,
          0.18096922489888595,
          -1.0051442101435117,
          0.7605049820853326,
          0.5125236154671131,
          -0.8699479359484414
        ],
        "eef_pose_l": [
          557.4746063713109,
          401.5631495218221,
          40.22164519727235,
          1.7051403424074676,
          -0.20239115985008643,
          0.6932516928708423
        ],
        "eef_pose_r": [
          539.4513902948911,
          -435.934020671372,
          -11.86306432812529,
          1.6507351897148321,
          -0.0836420885745799,
          1.8921939749654892
        ],
        "joint_status_l": {
          "velocity": [
            -0.0036042374933487054,
            -0.07198640903194331,
            0.005047440395811176,
            0.13798068767001404,
            -0.003026599950273212,
            -0.08590180377865408,
            0.0022031979205472396
          ],
          "torque": [
            -43.505859375,
            3.75,
            -2.008056640625,
            2.3681640625,
            -6.24755859375,
            -2.7923583984375,
            0.545654296875
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.01860919675866768,
            -7.687384656200891,
            -1.1430785068644589,
            0.5087651640041102,
            1.9316892862448753,
            3.5256252199071803,
            2.170638079404874
          ],
          "torque": [
            31.72119140625,
            9.68994140625,
            9.48486328125,
            0.4150390625,
            2.237548828125,
            5.8612060546875,
            0.736083984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.7,
            -16.5,
            -8.3,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.7,
            -16.5,
            -8.3,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -17.6,
            1.2,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -17.6,
            1.2,
            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": 38,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525773510693005,
          -0.84557955162319,
          -0.05519094199449593,
          -0.23337980493111854,
          -0.049119657803131746,
          -1.3372070126959175,
          0.47945391616515354
        ],
        "act_joint_pos_r": [
          -0.649617891503646,
          -0.6598956193719555,
          0.16874821393262884,
          -0.9988941874147587,
          0.7831092551202556,
          0.5534186706869233,
          -0.8297349313106679
        ],
        "act_eef_pose_l": [
          557.4746063713109,
          401.5631495218221,
          40.22164519727235,
          1.7051403424074676,
          -0.20239115985008643,
          0.6932516928708423
        ],
        "act_eef_pose_r": [
          548.0430644042035,
          -385.5955481268786,
          -23.43345665307993,
          1.6145430841970367,
          -0.19141038783880487,
          1.9733421141946264
        ],
        "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": [
          0.3525718646127232,
          -0.8456891310579578,
          -0.055183258659918806,
          -0.23316976742588566,
          -0.049124264966015414,
          -1.3373377744776218,
          0.4794572699257604
        ],
        "joint_pos_r": [
          -0.6408825373721766,
          -0.5899079576332094,
          0.1787621340544704,
          -1.0040597107468767,
          0.7644807381412468,
          0.5197344574123949,
          -0.8636136724107965
        ],
        "eef_pose_l": [
          557.48230985028,
          401.5526277254486,
          40.21863013648968,
          1.7051304116241126,
          -0.20239274836268845,
          0.6932244889503676
        ],
        "eef_pose_r": [
          541.3855767922742,
          -426.9702393498305,
          -13.855872620663177,
          1.6443053917795927,
          -0.10188567195551575,
          1.9065472037127515
        ],
        "joint_status_l": {
          "velocity": [
            -0.003011717658818469,
            -0.06015217910881887,
            0.004217664734407212,
            0.11529730611536948,
            -0.0025290410335943037,
            -0.0717799478557879,
            0.0018410024575921113
          ],
          "torque": [
            -43.5791015625,
            3.8525390625,
            -1.69677734375,
            1.898193359375,
            -6.2530517578125,
            -2.8143310546875,
            0.54656982421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.9433904223845602,
            -7.558444543378506,
            -1.08147147686255,
            0.5578600666655831,
            2.011820498259098,
            3.6377877428344085,
            3.6587961283904846
          ],
          "torque": [
            24.48486328125,
            7.14111328125,
            8.59375,
            -0.78125,
            2.2613525390625,
            5.474853515625,
            0.714111328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.3,
            -7.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -16.3,
            -7.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -5.3,
            -16.5,
            -1.2,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -5.3,
            -16.5,
            -1.2,
            1.0,
            0.0,
            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": 5,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525718646127232,
          -0.8456891310579578,
          -0.055183258659918806,
          -0.23316976742588566,
          -0.049124264966015414,
          -1.3373377744776218,
          0.4794572699257604
        ],
        "act_joint_pos_r": [
          -0.660987545277949,
          -0.668672788594192,
          0.16847535353138457,
          -1.0161576003219264,
          0.8128776850776579,
          0.5520822527540417,
          -0.8476415211641296
        ],
        "act_eef_pose_l": [
          557.48230985028,
          401.5526277254486,
          40.21863013648968,
          1.7051304116241126,
          -0.20239274836268845,
          0.6932244889503676
        ],
        "act_eef_pose_r": [
          546.1942644042035,
          -376.25474812687867,
          -27.637456653080108,
          1.6113341393145286,
          -0.2148344143913958,
          1.981475929958182
        ],
        "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": [
          0.3525690908169563,
          -0.8457445312908798,
          -0.055179374185372186,
          -0.23306357846135187,
          -0.049126594216001095,
          -1.337403883900244,
          0.4794589654913486
        ],
        "joint_pos_r": [
          -0.6438598447069188,
          -0.6033884785465219,
          0.17695720245388255,
          -1.0053219677250091,
          0.7715258851978842,
          0.5255216918199497,
          -0.8598802453588316
        ],
        "eef_pose_l": [
          557.4862027272854,
          401.5473068365525,
          40.2171066701504,
          1.7051253912639075,
          -0.2023935525777666,
          0.6932107350831888
        ],
        "eef_pose_r": [
          542.5876098346646,
          -418.47101928462337,
          -16.244683995327733,
          1.6390324479102354,
          -0.12063870583262894,
          1.9192962824609718
        ],
        "joint_status_l": {
          "velocity": [
            -0.0027121565508991807,
            -0.05416913041411675,
            0.0037981538562048556,
            0.10382923617835438,
            -0.0022774894542498814,
            -0.06464034078490499,
            0.0016578867745309367
          ],
          "torque": [
            -43.5205078125,
            6.27685546875,
            -1.556396484375,
            2.069091796875,
            -6.2823486328125,
            -2.735595703125,
            0.54473876953125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.8497371065908652,
            -7.050497541838396,
            -0.9160126672804747,
            -1.1702138068550028,
            4.465862673436405,
            2.8684559802947263,
            1.3217432302958798
          ],
          "torque": [
            22.58056640625,
            6.20361328125,
            7.891845703125,
            -4.3212890625,
            2.3529052734375,
            5.3173828125,
            0.7708740234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -15.9,
            -8.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.0,
            -15.9,
            -8.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.6,
            -16.2,
            -0.8,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.6,
            -16.2,
            -0.8,
            1.0,
            0.0,
            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": -24,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525690908169563,
          -0.8457445312908798,
          -0.055179374185372186,
          -0.23306357846135187,
          -0.049126594216001095,
          -1.337403883900244,
          0.4794589654913486
        ],
        "act_joint_pos_r": [
          -0.6718347404446785,
          -0.6683170925734644,
          0.1697367968235943,
          -1.0472028839560534,
          0.8424809757745013,
          0.5450924984416586,
          -0.8828532423791516
        ],
        "act_eef_pose_l": [
          557.4862027272854,
          401.5473068365525,
          40.2171066701504,
          1.7051253912639075,
          -0.2023935525777666,
          0.6932107350831888
        ],
        "act_eef_pose_r": [
          542.4878644042035,
          -367.5443481268786,
          -29.847056653080017,
          1.6096922322724248,
          -0.22163099773023584,
          1.9911463421462863
        ],
        "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": [
          0.3525646505741573,
          -0.8458332149957987,
          -0.05517315598778908,
          -0.2328935930605745,
          -0.04913032283784108,
          -1.3375097106850597,
          0.47946167972250564
        ],
        "joint_pos_r": [
          -0.6465746845345416,
          -0.6107296981054667,
          0.17609103894158493,
          -1.0087831103336207,
          0.778326588067302,
          0.5280148869968047,
          -0.8610380198356538
        ],
        "eef_pose_l": [
          557.4928626003864,
          401.53819801382525,
          40.214500604799014,
          1.7051167994903325,
          -0.20239493071742226,
          0.69318719483816
        ],
        "eef_pose_r": [
          542.9089470559647,
          -413.0400622829479,
          -17.795942484954338,
          1.6360075789291209,
          -0.13166878524569836,
          1.927076201774081
        ],
        "joint_status_l": {
          "velocity": [
            -0.0022326244715209498,
            -0.04459157275782388,
            0.003126608323411606,
            0.08547135433123465,
            -0.0018748101718868426,
            -0.05321138510261392,
            0.0013647584551357284
          ],
          "torque": [
            -43.4912109375,
            5.625,
            -1.092529296875,
            2.093505859375,
            -6.26953125,
            -1.7431640625,
            0.53009033203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.7280055800700254,
            -6.219255175416549,
            -0.6862379092378301,
            -4.149213176721567,
            6.928469528091341,
            1.8443276405077924,
            -2.355974548942541
          ],
          "torque": [
            21.27685546875,
            7.3828125,
            9.173583984375,
            -5.2490234375,
            3.0084228515625,
            5.386962890625,
            -0.5108642578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.0,
            -7.5,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.0,
            -7.5,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -5.4,
            -16.7,
            1.5,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -5.4,
            -16.7,
            1.5,
            1.0,
            0.0,
            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": -9,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525646505741573,
          -0.8458332149957987,
          -0.05517315598778908,
          -0.2328935930605745,
          -0.04913032283784108,
          -1.3375097106850597,
          0.47946167972250564
        ],
        "act_joint_pos_r": [
          -0.6866981926516499,
          -0.660791820024436,
          0.1720540520769592,
          -1.0849874559591257,
          0.8818049469563558,
          0.5405395080845321,
          -0.9286923187063748
        ],
        "act_eef_pose_l": [
          557.4928626003864,
          401.53819801382525,
          40.214500604799014,
          1.7051167994903325,
          -0.20239493071742226,
          0.69318719483816
        ],
        "act_eef_pose_r": [
          536.6766644042035,
          -361.1371481268786,
          -31.60865665308006,
          1.6067081904849714,
          -0.22693801885337578,
          1.9973519350446527
        ],
        "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": [
          0.35256049355096103,
          -0.8459162420362473,
          -0.05516733441614048,
          -0.2327344501294251,
          -0.04913381363061534,
          -1.3376087873390123,
          0.4794642208272133
        ],
        "joint_pos_r": [
          -0.6531324762250053,
          -0.6215611042622886,
          0.17504378819980718,
          -1.0202669657382446,
          0.7951383816251612,
          0.5309960588754371,
          -0.8699841070725995
        ],
        "eef_pose_l": [
          557.4982609361974,
          401.53080911862105,
          40.212388428182635,
          1.7051098324010487,
          -0.20239604993885468,
          0.6931681040784465
        ],
        "eef_pose_r": [
          542.5655795122123,
          -403.12521720521755,
          -20.564521106610414,
          1.6306447185901336,
          -0.15001078117717903,
          1.9408995094131665
        ],
        "joint_status_l": {
          "velocity": [
            -0.0017836792074454877,
            -0.03562491684672153,
            0.002497897128195259,
            0.06828442466844109,
            -0.0014978156711586976,
            -0.042511422055468984,
            0.001090327240493849
          ],
          "torque": [
            -43.3740234375,
            4.9951171875,
            -0.93994140625,
            1.995849609375,
            -6.298828125,
            -1.95556640625,
            0.501708984375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.6249904606986405,
            -4.23679234480101,
            -0.32288197837271326,
            -6.98960679642191,
            9.359713005789416,
            1.0306621168276742,
            -6.340299859298071
          ],
          "torque": [
            22.3681640625,
            9.1259765625,
            8.428955078125,
            -5.767822265625,
            2.7703857421875,
            5.379638671875,
            -0.7269287109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.3,
            -9.0,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.3,
            -9.0,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.9,
            -15.8,
            0.3,
            0.9,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.9,
            -15.8,
            0.3,
            0.9,
            0.0,
            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": -41,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35256049355096103,
          -0.8459162420362473,
          -0.05516733441614048,
          -0.2327344501294251,
          -0.04913381363061534,
          -1.3376087873390123,
          0.4794642208272133
        ],
        "act_joint_pos_r": [
          -0.6958141371407347,
          -0.656256042516442,
          0.17331562753383667,
          -1.1035847389153517,
          0.916326033046964,
          0.5416636495145696,
          -0.9569553623606707
        ],
        "act_eef_pose_l": [
          557.4982609361974,
          401.53080911862105,
          40.212388428182635,
          1.7051098324010487,
          -0.20239604993885468,
          0.6931681040784465
        ],
        "act_eef_pose_r": [
          533.7782644042035,
          -359.5819481268786,
          -32.08065665308004,
          1.6012116890681405,
          -0.2371244730098974,
          1.9943510759725422
        ],
        "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": [
          0.35255717243899903,
          -0.8459825736596702,
          -0.055162683469939834,
          -0.2326073083100562,
          -0.04913660248049486,
          -1.3376879412539835,
          0.4794662509561886
        ],
        "joint_pos_r": [
          -0.6602605719334481,
          -0.628587605034239,
          0.17458696870715706,
          -1.0340987817776106,
          0.8144864491030986,
          0.5328966724899024,
          -0.88350953168499
        ],
        "eef_pose_l": [
          557.5029159269819,
          401.52443370792037,
          40.21056726764516,
          1.7051038226563446,
          -0.20239701658091708,
          0.6931516351896997
        ],
        "eef_pose_r": [
          541.4520604868953,
          -394.89530066695596,
          -22.806869104108927,
          1.6256316610532582,
          -0.16511703674384157,
          1.9517647122493738
        ],
        "joint_status_l": {
          "velocity": [
            -0.0014250096938006607,
            -0.028461312796324023,
            0.0019956097527251693,
            0.054553513148203336,
            -0.0011966287671860698,
            -0.03396305135972,
            0.0008710797776423362
          ],
          "torque": [
            -43.33740234375,
            4.423828125,
            -0.59814453125,
            0.634765625,
            -6.331787109375,
            -2.171630859375,
            0.4925537109375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.8396717973201433,
            -2.9881031186871354,
            -0.13730079724805222,
            -7.5042620444971675,
            10.998350686922898,
            0.9468055941255216,
            -7.9319157736224
          ],
          "torque": [
            21.21826171875,
            7.8515625,
            9.185791015625,
            -6.146240234375,
            2.794189453125,
            5.892333984375,
            -1.1279296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.6,
            -8.8,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.6,
            -8.8,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -5.6,
            -15.8,
            1.5,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -5.6,
            -15.8,
            1.5,
            1.0,
            0.0,
            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": -93,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35255717243899903,
          -0.8459825736596702,
          -0.055162683469939834,
          -0.2326073083100562,
          -0.04913660248049486,
          -1.3376879412539835,
          0.4794662509561886
        ],
        "act_joint_pos_r": [
          -0.7093718592841087,
          -0.6445291214876023,
          0.17630643342560728,
          -1.1434634350409194,
          0.968082165072718,
          0.5364393486502458,
          -1.0429005583266282
        ],
        "act_eef_pose_l": [
          557.5029159269819,
          401.52443370792037,
          40.21056726764516,
          1.7051038226563446,
          -0.20239701658091708,
          0.6931516351896997
        ],
        "act_eef_pose_r": [
          528.0910644042035,
          -356.11074812687866,
          -32.03025665307996,
          1.5969265825878565,
          -0.2114147087541697,
          1.9931183564967283
        ],
        "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": [
          0.35255500325513645,
          -0.8460258981512083,
          -0.055159645705010876,
          -0.23252426564664558,
          -0.04913842401744467,
          -1.3377396406236417,
          0.4794675769346748
        ],
        "joint_pos_r": [
          -0.6660572417901469,
          -0.6324417143443521,
          0.17448218337490407,
          -1.0458224200027237,
          0.8314714710974583,
          0.5340733933858757,
          -0.8971927471723813
        ],
        "eef_pose_l": [
          557.5059554073089,
          401.52026889763704,
          40.209378225140085,
          1.705099897579656,
          -0.20239764851921796,
          0.6931408783593814
        ],
        "eef_pose_r": [
          540.2779058559413,
          -389.2988994415494,
          -24.26857408606824,
          1.6216114677244553,
          -0.1750381031838489,
          1.9586304578435236
        ],
        "joint_status_l": {
          "velocity": [
            -0.0011907447459158504,
            -0.023782405706995746,
            0.0016675408162636352,
            0.0455851700069676,
            -0.0009999085785472595,
            -0.02837968410851488,
            0.0007278783247244291
          ],
          "torque": [
            -43.07373046875,
            3.8818359375,
            -2.94189453125,
            0.823974609375,
            -6.3629150390625,
            -2.347412109375,
            0.47515869140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.677840723809723,
            -1.3054014707121198,
            0.19701319488230062,
            -10.544918618374588,
            14.753519817520377,
            0.25551563252079745,
            -15.73597949675154
          ],
          "torque": [
            22.25830078125,
            8.9501953125,
            9.033203125,
            -5.3466796875,
            2.6678466796875,
            5.8538818359375,
            -0.81756591796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.2,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.2,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.7,
            -17.3,
            0.8,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.7,
            -17.3,
            0.8,
            1.1,
            0.0,
            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": -89,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35255500325513645,
          -0.8460258981512083,
          -0.055159645705010876,
          -0.23252426564664558,
          -0.04913842401744467,
          -1.3377396406236417,
          0.4794675769346748
        ],
        "act_joint_pos_r": [
          -0.7248251474907246,
          -0.6321121380439519,
          0.1796347532219477,
          -1.186869103351122,
          1.021537893115843,
          0.5467104814372956,
          -1.1253851984489682
        ],
        "act_eef_pose_l": [
          557.5059554073089,
          401.52026889763704,
          40.209378225140085,
          1.705099897579656,
          -0.20239764851921796,
          0.6931408783593814
        ],
        "act_eef_pose_r": [
          521.2038644042035,
          -351.16194812687866,
          -29.39985665307995,
          1.579381672752896,
          -0.19305388013327657,
          1.9992989106834802
        ],
        "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": [
          0.35255305381170116,
          -0.8460648338297742,
          -0.055156915668612694,
          -0.23244963528550305,
          -0.04914006103093646,
          -1.3377861027970597,
          0.47946876859025545
        ],
        "joint_pos_r": [
          -0.6761927604695334,
          -0.633161872915017,
          0.1752464748502497,
          -1.0697502491148498,
          0.8640325402677852,
          0.5358150324439667,
          -0.9351317821346993
        ],
        "eef_pose_l": [
          557.5086863608244,
          401.5165255069496,
          40.20830993601268,
          1.7050963702433257,
          -0.20239821682998557,
          0.6931312110866005
        ],
        "eef_pose_r": [
          537.3313697351697,
          -382.08359216844957,
          -25.449408358068297,
          1.6138300328733863,
          -0.17910237268256296,
          1.9673572810372668
        ],
        "joint_status_l": {
          "velocity": [
            -0.0009802110643164497,
            -0.019577476439991415,
            0.0013727055809265032,
            0.037525328715926065,
            -0.0008231163356464677,
            -0.023361917371289564,
            0.0005991833176288708
          ],
          "torque": [
            -43.037109375,
            3.9111328125,
            -4.47998046875,
            1.220703125,
            -6.3739013671875,
            -2.5634765625,
            0.4541015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -5.252142894613954,
            0.11336802246386668,
            0.4739200866175075,
            -12.648463211035299,
            17.010076422202758,
            1.176673787141258,
            -20.54676296755975
          ],
          "torque": [
            23.26904296875,
            13.22021484375,
            15.875244140625,
            -5.615234375,
            2.7227783203125,
            6.002197265625,
            -1.07208251953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -18.0,
            -9.2,
            1.5,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -1.3,
            -18.0,
            -9.2,
            1.5,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -5.5,
            -17.0,
            -2.1,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -5.5,
            -17.0,
            -2.1,
            1.1,
            0.0,
            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": -112,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35255305381170116,
          -0.8460648338297742,
          -0.055156915668612694,
          -0.23244963528550305,
          -0.04914006103093646,
          -1.3377861027970597,
          0.47946876859025545
        ],
        "act_joint_pos_r": [
          -0.7456115127359086,
          -0.620322078034717,
          0.1832644261373488,
          -1.2391563019035179,
          1.0740595617331365,
          0.5575756810267349,
          -1.2140949011267923
        ],
        "act_eef_pose_l": [
          557.5086863608244,
          401.5165255069496,
          40.20830993601268,
          1.7050963702433257,
          -0.20239821682998557,
          0.6931312110866005
        ],
        "act_eef_pose_r": [
          512.0310644042036,
          -342.8763481268786,
          -28.245456653080055,
          1.5642490615620281,
          -0.1746291404180787,
          2.010656883729283
        ],
        "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": [
          0.35255144904625413,
          -0.8460968853530377,
          -0.055154668325601085,
          -0.23238820019962686,
          -0.04914140860668059,
          -1.33782435006761,
          0.47946974955111127
        ],
        "joint_pos_r": [
          -0.686533290230449,
          -0.6316588777393436,
          0.17637746988849756,
          -1.0949042776538376,
          0.8958523790927748,
          0.5388322532430943,
          -0.9764188098005339
        ],
        "eef_pose_l": [
          557.5109340151554,
          401.51344363842566,
          40.20743074407929,
          1.7050934666594284,
          -0.20239868493456414,
          0.6931232529838193
        ],
        "eef_pose_r": [
          533.8508811641809,
          -375.6710218224317,
          -26.044746161543088,
          1.6054090592548431,
          -0.17880667857633548,
          1.975795773075974
        ],
        "joint_status_l": {
          "velocity": [
            -0.0008069015073886021,
            -0.01611601401751983,
            0.0011299996939273527,
            0.030890535124061813,
            -0.0006775824475946379,
            -0.019231333975966436,
            0.0004932426698189829
          ],
          "torque": [
            -43.037109375,
            3.71337890625,
            -4.852294921875,
            1.568603515625,
            -6.4031982421875,
            -2.6641845703125,
            0.4376220703125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -6.380259854883441,
            1.224338258173141,
            0.743769338571898,
            -15.57875914802409,
            19.245808100390782,
            2.024230499145574,
            -25.668260818350497
          ],
          "torque": [
            22.06787109375,
            15.37353515625,
            15.41748046875,
            -7.01904296875,
            2.750244140625,
            5.6597900390625,
            -0.86334228515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.5,
            -17.9,
            -9.4,
            1.5,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.9,
            -9.4,
            1.5,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -5.5,
            -16.2,
            0.5,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -5.5,
            -16.2,
            0.5,
            1.0,
            0.0,
            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": -106,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35255144904625413,
          -0.8460968853530377,
          -0.055154668325601085,
          -0.23238820019962686,
          -0.04914140860668059,
          -1.33782435006761,
          0.47946974955111127
        ],
        "act_joint_pos_r": [
          -0.7739312670243552,
          -0.6022203475981598,
          0.18859634838106087,
          -1.3038521654812716,
          1.1337002372073413,
          0.5615706156876128,
          -1.3006692681029581
        ],
        "act_eef_pose_l": [
          557.5109340151554,
          401.51344363842566,
          40.20743074407929,
          1.7050934666594284,
          -0.20239868493456414,
          0.6931232529838193
        ],
        "act_eef_pose_r": [
          499.5974644042035,
          -334.9027481268787,
          -29.239856653080096,
          1.559884410021191,
          -0.17007125736261633,
          2.0179345284057746
        ],
        "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": [
          0.3525506059376457,
          -0.8461137245211712,
          -0.05515348762081791,
          -0.23235592355143633,
          -0.04914211659345364,
          -1.3378444443456305,
          0.4794702649264538
        ],
        "joint_pos_r": [
          -0.6936529483729986,
          -0.6297364709785928,
          0.17729659021504005,
          -1.1120929250646372,
          0.9161964259131625,
          0.5408719770232758,
          -1.0038605168145505
        ],
        "eef_pose_l": [
          557.5121147229688,
          401.51182436891366,
          40.20696891358557,
          1.7050919412125243,
          -0.20239893096629785,
          0.6931190719401714
        ],
        "eef_pose_r": [
          531.2740716989391,
          -371.776344057079,
          -26.383042375356155,
          1.6003015666368379,
          -0.17781703661614431,
          1.9809753974347786
        ],
        "joint_status_l": {
          "velocity": [
            -0.0007158484631730744,
            -0.014297437495258691,
            0.0010024873380864996,
            0.02740475992690783,
            -0.0006011221311830184,
            -0.017061215954683462,
            0.00043758377410441085
          ],
          "torque": [
            -42.98583984375,
            3.8525390625,
            -4.962158203125,
            2.001953125,
            -6.4178466796875,
            -2.45361328125,
            0.4266357421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -8.669802712183206,
            2.971653680846842,
            1.220337889987988,
            -20.70938717427051,
            23.48971882754647,
            2.2353870465314785,
            -32.054399745162776
          ],
          "torque": [
            20.4638671875,
            16.61865234375,
            16.143798828125,
            -7.342529296875,
            3.1915283203125,
            6.243896484375,
            -1.0162353515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.1,
            -7.6,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -16.1,
            -7.6,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -5.0,
            -17.8,
            0.7,
            1.2,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -5.0,
            -17.8,
            0.7,
            1.2,
            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": -83,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525506059376457,
          -0.8461137245211712,
          -0.05515348762081791,
          -0.23235592355143633,
          -0.04914211659345364,
          -1.3378444443456305,
          0.4794702649264538
        ],
        "act_joint_pos_r": [
          -0.7993052227230008,
          -0.5815199604745237,
          0.19400712748925888,
          -1.3454502856653612,
          1.149730008176013,
          0.5665293472049651,
          -1.3372396882685937
        ],
        "act_eef_pose_l": [
          557.5121147229688,
          401.51182436891366,
          40.20696891358557,
          1.7050919412125243,
          -0.20239893096629785,
          0.6931190719401714
        ],
        "act_eef_pose_r": [
          488.2910644042035,
          -332.66034812687866,
          -31.45105665308006,
          1.563995122468968,
          -0.16487272802096345,
          2.0256674709523583
        ],
        "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": [
          0.35254943397691085,
          -0.8461371317591725,
          -0.05515184638547597,
          -0.23231105748797629,
          -0.04914310072846364,
          -1.3378723763399167,
          0.4794709813224901
        ],
        "joint_pos_r": [
          -0.7129276524038675,
          -0.6220989829946237,
          0.18016760735044224,
          -1.1565011566799428,
          0.9638910594666521,
          0.5457056814152288,
          -1.0702074586487833
        ],
        "eef_pose_l": [
          557.5137557788314,
          401.50957336681523,
          40.206327036310995,
          1.7050898208065208,
          -0.20239927307626154,
          0.693113260057048
        ],
        "eef_pose_r": [
          523.8502440916542,
          -363.1264130438383,
          -27.461272056266296,
          1.5901523975168825,
          -0.17486940081224175,
          1.9925313256208927
        ],
        "joint_status_l": {
          "velocity": [
            -0.0005892804368912152,
            -0.011769530347649493,
            0.0008252391488494659,
            0.022559367980345968,
            -0.0004948386847503095,
            -0.014044649539357579,
            0.00036021528426744
          ],
          "torque": [
            -42.85400390625,
            4.09423828125,
            -5.13916015625,
            1.702880859375,
            -6.43798828125,
            -2.51953125,
            0.41015625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -9.328502464993171,
            4.382405180039406,
            1.4946240934108346,
            -20.405904090454285,
            20.07001452717283,
            2.248889577838309,
            -28.838630249005348
          ],
          "torque": [
            18.88916015625,
            16.728515625,
            15.997314453125,
            -7.0068359375,
            2.4664306640625,
            6.38671875,
            -1.1334228515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.7,
            -15.5,
            -8.3,
            1.3,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.7,
            -15.5,
            -8.3,
            1.3,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -5.5,
            -16.3,
            -0.7,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -5.5,
            -16.3,
            -0.7,
            1.1,
            0.0,
            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": -104,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254943397691085,
          -0.8461371317591725,
          -0.05515184638547597,
          -0.23231105748797629,
          -0.04914310072846364,
          -1.3378723763399167,
          0.4794709813224901
        ],
        "act_joint_pos_r": [
          -0.8086422244244967,
          -0.5694255896893728,
          0.19736510354718567,
          -1.3672055986204803,
          1.1652551561846038,
          0.5632074208853945,
          -1.3557380142332869
        ],
        "act_eef_pose_l": [
          557.5137557788314,
          401.50957336681523,
          40.206327036310995,
          1.7050898208065208,
          -0.20239927307626154,
          0.693113260057048
        ],
        "act_eef_pose_r": [
          483.7262644042035,
          -332.9275481268786,
          -31.388656653080034,
          1.568272356903278,
          -0.1662890427644619,
          2.024102978032094
        ],
        "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": [
          0.3525483367693526,
          -0.846159045973268,
          -0.055150309835855636,
          -0.23226905319339847,
          -0.04914402209070663,
          -1.3378985267000258,
          0.47947165202341235
        ],
        "joint_pos_r": [
          -0.7356047602425883,
          -0.610374136792666,
          0.18405978699168446,
          -1.206291845908699,
          1.0120459282728482,
          0.5503979607018489,
          -1.138871675132887
        ],
        "eef_pose_l": [
          557.5152919667582,
          401.50746579548155,
          40.205726194714146,
          1.705087835689166,
          -0.20239959348528863,
          0.6931078188460598
        ],
        "eef_pose_r": [
          514.6406518380397,
          -355.1652039402237,
          -28.798956740283984,
          1.582571629370373,
          -0.1718898154377615,
          2.002884259327813
        ],
        "joint_status_l": {
          "velocity": [
            -0.00047078551546064773,
            -0.009402865027041685,
            0.0006592966840801573,
            0.018023037958059263,
            -0.0003953344972495998,
            -0.011220493941976883,
            0.000287781721119984
          ],
          "torque": [
            -42.3486328125,
            4.12353515625,
            -5.2001953125,
            1.739501953125,
            -6.4599609375,
            -2.5323486328125,
            0.39276123046875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -7.8878134930224775,
            4.422312658015848,
            1.436931807955677,
            -17.378172751064014,
            16.546108613081145,
            1.3833808991843277,
            -23.420873861093483
          ],
          "torque": [
            21.30615234375,
            14.9267578125,
            17.132568359375,
            -6.35986328125,
            2.5140380859375,
            5.7110595703125,
            -0.87158203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.6,
            -16.4,
            -8.3,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.6,
            -16.4,
            -8.3,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.2,
            -16.5,
            -0.3,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.2,
            -16.5,
            -0.3,
            1.0,
            0.1,
            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": -175,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525483367693526,
          -0.846159045973268,
          -0.055150309835855636,
          -0.23226905319339847,
          -0.04914402209070663,
          -1.3378985267000258,
          0.47947165202341235
        ],
        "act_joint_pos_r": [
          -0.8349026395160511,
          -0.5401174198211806,
          0.20602637751224762,
          -1.4176003829101351,
          1.1824794602572455,
          0.5516015554518952,
          -1.3832979374090468
        ],
        "act_eef_pose_l": [
          557.5152919667582,
          401.50746579548155,
          40.205726194714146,
          1.705087835689166,
          -0.20239959348528863,
          0.6931078188460598
        ],
        "act_eef_pose_r": [
          471.0926644042035,
          -332.2515481268787,
          -33.60625665307998,
          1.5867370139496408,
          -0.16998609113705118,
          2.0282206909993272
        ],
        "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": [
          0.35254756601664883,
          -0.8461744399975218,
          -0.0551492304596106,
          -0.2322395465395573,
          -0.0491446693177828,
          -1.337916896479386,
          0.4794721231690451
        ],
        "joint_pos_r": [
          -0.745372500989637,
          -0.604050295670411,
          0.18606450124681995,
          -1.2273782381666527,
          1.0303353907187633,
          0.5511690020063901,
          -1.1649449863357166
        ],
        "eef_pose_l": [
          557.5163709769365,
          401.50598520899524,
          40.20530417718689,
          1.705086441231292,
          -0.20239981863188383,
          0.6931039965504341
        ],
        "eef_pose_r": [
          510.50818704597344,
          -352.51623321373484,
          -29.41902699122855,
          1.581341988182644,
          -0.1712386037548827,
          2.00612981747485
        ],
        "joint_status_l": {
          "velocity": [
            -0.000387546678304318,
            -0.007740359440511213,
            0.0005427274876179666,
            0.014836413327667941,
            -0.0003254360345650298,
            -0.00923661628249306,
            0.00023689949335548022
          ],
          "torque": [
            -42.19482421875,
            4.10888671875,
            -5.26123046875,
            1.947021484375,
            -6.4801025390625,
            -2.611083984375,
            0.3790283203125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -9.668969789832005,
            6.90454695299092,
            2.15581905418194,
            -20.543385737520126,
            16.431074901506193,
            0.04671439434700275,
            -23.581423219019015
          ],
          "torque": [
            17.95166015625,
            22.47802734375,
            18.66455078125,
            -12.762451171875,
            2.501220703125,
            5.3759765625,
            -0.89630126953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.2,
            -8.4,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.2,
            -8.4,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.7,
            -16.4,
            -0.3,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.7,
            -16.4,
            -0.3,
            1.0,
            0.0,
            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": -166,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254756601664883,
          -0.8461744399975218,
          -0.0551492304596106,
          -0.2322395465395573,
          -0.0491446693177828,
          -1.337916896479386,
          0.4794721231690451
        ],
        "act_joint_pos_r": [
          -0.8557713425869277,
          -0.5194347413059687,
          0.2126199469710732,
          -1.449229489283711,
          1.200969954524468,
          0.5481288707210595,
          -1.415516991693976
        ],
        "act_eef_pose_l": [
          557.5163709769365,
          401.50598520899524,
          40.20530417718689,
          1.705086441231292,
          -0.20239981863188383,
          0.6931039965504341
        ],
        "act_eef_pose_r": [
          462.4174644042035,
          -333.5979481268787,
          -35.36625665307997,
          1.5982070253922145,
          -0.16403921664777601,
          2.0255505310151967
        ],
        "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": [
          0.3525469315395027,
          -0.8461871122288704,
          -0.05514834192615999,
          -0.23221525691017725,
          -0.04914520210967069,
          -1.3379320183273202,
          0.479472511012169
        ],
        "joint_pos_r": [
          -0.7624148580130634,
          -0.5915445597310903,
          0.18997707969487665,
          -1.2628490731303255,
          1.058310219936698,
          0.5510436841281542,
          -1.2054238661001984
        ],
        "eef_pose_l": [
          557.5172591396924,
          401.5047663493788,
          40.204956809468996,
          1.7050852933393192,
          -0.20240000401380118,
          0.6931008500555063
        ],
        "eef_pose_r": [
          503.16450574044967,
          -348.9662827715333,
          -30.640901831826483,
          1.5819643701417212,
          -0.17040120004444714,
          2.0103992769030663
        ],
        "joint_status_l": {
          "velocity": [
            -0.0003190251676166156,
            -0.006371798818349816,
            0.00044676870508686406,
            0.012213210721645495,
            -0.00026789620771738853,
            -0.007603504871056543,
            0.00019501367143348602
          ],
          "torque": [
            -41.9970703125,
            4.3212890625,
            -5.38330078125,
            1.67236328125,
            -6.4947509765625,
            -2.4481201171875,
            0.35980224609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -10.082202975295829,
            7.787630706022952,
            2.4453575438636577,
            -20.128491286449446,
            15.406796936292544,
            -0.3147905637148618,
            -22.689388376388564
          ],
          "torque": [
            18.15673828125,
            22.65380859375,
            18.035888671875,
            -11.260986328125,
            2.8253173828125,
            4.844970703125,
            -0.802001953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.9,
            -17.2,
            -8.3,
            1.5,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.9,
            -17.2,
            -8.3,
            1.5,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -5.1,
            -16.9,
            -0.2,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -5.1,
            -16.9,
            -0.2,
            1.0,
            0.0,
            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": -125,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525469315395027,
          -0.8461871122288704,
          -0.05514834192615999,
          -0.23221525691017725,
          -0.04914520210967069,
          -1.3379320183273202,
          0.479472511012169
        ],
        "act_joint_pos_r": [
          -0.8667470351855603,
          -0.5057659869986462,
          0.2172480159287426,
          -1.4617467579193204,
          1.221965180739244,
          0.5436189183636151,
          -1.452277060943479
        ],
        "act_eef_pose_l": [
          557.5172591396924,
          401.5047663493788,
          40.204956809468996,
          1.7050852933393192,
          -0.20240000401380118,
          0.6931008500555063
        ],
        "act_eef_pose_r": [
          458.86306440420356,
          -338.25394812687864,
          -36.70945665308,
          1.6085089524550409,
          -0.14629054841848452,
          2.0128616121326774
        ],
        "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": [
          0.3525464092432502,
          -0.8461975439031815,
          -0.055147610492893344,
          -0.2321952618914741,
          -0.04914564069947362,
          -1.3379444665054112,
          0.479472830281368
        ],
        "joint_pos_r": [
          -0.7790007568325025,
          -0.5781476210521876,
          0.1942217058435799,
          -1.294901628259552,
          1.084131975585178,
          0.5500555866407646,
          -1.2441103061391812
        ],
        "eef_pose_l": [
          557.5179902208102,
          401.50376295829255,
          40.20467088202736,
          1.705084348413802,
          -0.20240015664786562,
          0.6930982598783194
        ],
        "eef_pose_r": [
          496.14859967118923,
          -347.03506851377944,
          -31.921365383684872,
          1.584772791025,
          -0.16727403503779723,
          2.0115509703447407
        ],
        "joint_status_l": {
          "velocity": [
            -0.00026261883601108593,
            -0.005245211219140344,
            0.00036777624207173787,
            0.010053812389942962,
            -0.00022052990600318623,
            -0.006259141288822434,
            0.00016053361484580364
          ],
          "torque": [
            -41.74072265625,
            4.2919921875,
            -5.50537109375,
            1.373291015625,
            -6.5093994140625,
            -2.3968505859375,
            0.34881591796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -9.476318573053533,
            7.8169859281063125,
            2.486768145891549,
            -18.0187425688505,
            14.885547130893073,
            -0.6951396718837266,
            -22.481346466992846
          ],
          "torque": [
            19.72412109375,
            16.76513671875,
            17.93212890625,
            -8.203125,
            1.7926025390625,
            4.3048095703125,
            -0.58868408203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -17.1,
            -8.1,
            1.5,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -17.1,
            -8.1,
            1.5,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -6.1,
            -17.8,
            1.4,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -6.1,
            -17.8,
            1.4,
            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": -166,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525464092432502,
          -0.8461975439031815,
          -0.055147610492893344,
          -0.2321952618914741,
          -0.04914564069947362,
          -1.3379444665054112,
          0.479472830281368
        ],
        "act_joint_pos_r": [
          -0.8714916425181682,
          -0.4997321699115884,
          0.21956719474375852,
          -1.4630959196668663,
          1.231498264564797,
          0.5469604302932743,
          -1.4615976332341107
        ],
        "act_eef_pose_l": [
          557.5179902208102,
          401.50376295829255,
          40.20467088202736,
          1.705084348413802,
          -0.20240015664786562,
          0.6930982598783194
        ],
        "act_eef_pose_r": [
          457.92146440420345,
          -341.85554812687866,
          -36.66785665307998,
          1.608942535739626,
          -0.14328333373728222,
          2.004099330224685
        ],
        "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": [
          0.3525461673709707,
          -0.8462023747493383,
          -0.05514727177050996,
          -0.23218600231756673,
          -0.049145843807795526,
          -1.3379502311824418,
          0.4794729781330299
        ],
        "joint_pos_r": [
          -0.7951129600878369,
          -0.564589547652969,
          0.198585217943958,
          -1.3245712735273647,
          1.109703420606734,
          0.549338632645959,
          -1.2820905329635601
        ],
        "eef_pose_l": [
          557.5183287657387,
          401.5032982828221,
          40.20453847769221,
          1.7050839108273383,
          -0.2024002273407322,
          0.6930970603799541
        ],
        "eef_pose_r": [
          489.4798747752666,
          -346.0270943210478,
          -33.03253320355785,
          1.5880620249860795,
          -0.16322213350420248,
          2.0106882502655363
        ],
        "joint_status_l": {
          "velocity": [
            -0.00023649739988584884,
            -0.00472349522162574,
            0.00033119530357117455,
            0.00905380790139354,
            -0.00019859485417272893,
            -0.005636574529788163,
            0.0001445661061971748
          ],
          "torque": [
            -41.56494140625,
            4.07958984375,
            -5.572509765625,
            1.446533203125,
            -6.5203857421875,
            -2.4517822265625,
            0.347900390625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -8.248654421417534,
            7.004390212622447,
            2.265986662674191,
            -14.96022055494528,
            13.15345520704625,
            -0.2568382790499868,
            -19.386195063958667
          ],
          "torque": [
            20.0244140625,
            17.30712890625,
            18.255615234375,
            -7.635498046875,
            1.8896484375,
            3.826904296875,
            -0.69488525390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.6,
            -16.6,
            -8.3,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.6,
            -16.6,
            -8.3,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.5,
            -16.8,
            0.0,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.5,
            -16.8,
            0.0,
            1.1,
            0.0,
            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": -137,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525461673709707,
          -0.8462023747493383,
          -0.05514727177050996,
          -0.23218600231756673,
          -0.049145843807795526,
          -1.3379502311824418,
          0.4794729781330299
        ],
        "act_joint_pos_r": [
          -0.8811200258802466,
          -0.4842918575126909,
          0.22519506526825359,
          -1.4754405906547052,
          1.2625030608286565,
          0.5495563020331783,
          -1.5012210339492287
        ],
        "act_eef_pose_l": [
          557.5183287657387,
          401.5032982828221,
          40.20453847769221,
          1.7050839108273383,
          -0.2024002273407322,
          0.6930970603799541
        ],
        "act_eef_pose_r": [
          455.2382644042035,
          -348.42834812687863,
          -35.442256653079994,
          1.6111417225477755,
          -0.1286739229424787,
          1.985689093692775
        ],
        "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": [
          0.3525457534071164,
          -0.8462106427315125,
          -0.05514669204792372,
          -0.23217015457795342,
          -0.049146191427225,
          -1.3379600974140249,
          0.4794732311808119
        ],
        "joint_pos_r": [
          -0.8107647485169168,
          -0.5503832837350304,
          0.20326082345570573,
          -1.3523132646410494,
          1.1366344398028587,
          0.5492162004326433,
          -1.3210174398471395
        ],
        "eef_pose_l": [
          557.5189081634927,
          401.50250297559467,
          40.204311878194886,
          1.705083161903375,
          -0.20240034834454618,
          0.69309500743719
        ],
        "eef_pose_r": [
          483.18640656890443,
          -346.176155721985,
          -33.755772204595985,
          1.591262472351622,
          -0.15778245563223695,
          2.0071047249839715
        ],
        "joint_status_l": {
          "velocity": [
            -0.0001917906224946364,
            -0.003830579482055896,
            0.00026858711077437647,
            0.007342302501323061,
            -0.0001610530629969631,
            -0.004571052945934184,
            0.00011723775195093822
          ],
          "torque": [
            -41.572265625,
            3.779296875,
            -5.72509765625,
            1.666259765625,
            -6.5423583984375,
            -2.5341796875,
            0.34149169921875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -7.598145859905259,
            7.137663517880366,
            2.3688282509004566,
            -13.297359024834421,
            13.593410154584262,
            0.03672988956715528,
            -19.461414179295033
          ],
          "torque": [
            19.1015625,
            18.1201171875,
            17.425537109375,
            -6.82373046875,
            2.4005126953125,
            4.6490478515625,
            -0.8184814453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.3,
            -8.2,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.3,
            -8.2,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -16.9,
            0.3,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -16.9,
            0.3,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 166,
          "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": [
          0.3525457534071164,
          -0.8462106427315125,
          -0.05514669204792372,
          -0.23217015457795342,
          -0.049146191427225,
          -1.3379600974140249,
          0.4794732311808119
        ],
        "act_joint_pos_r": [
          -0.8878558925239127,
          -0.46670134508845557,
          0.2320324569448548,
          -1.4902646149027667,
          1.2725229073735536,
          0.5493986924309628,
          -1.5205381196808174
        ],
        "act_eef_pose_l": [
          557.5189081634927,
          401.50250297559467,
          40.204311878194886,
          1.705083161903375,
          -0.20240034834454618,
          0.69309500743719
        ],
        "act_eef_pose_r": [
          452.09186440420353,
          -353.12114812687867,
          -32.28385665308019,
          1.611707942727795,
          -0.11519448967724367,
          1.9787373618913344
        ],
        "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": [
          0.3525453963035927,
          -0.8462177750584955,
          -0.05514619195358907,
          -0.23215648361707306,
          -0.04914649129911448,
          -1.3379686084616131,
          0.47947344947101683
        ],
        "joint_pos_r": [
          -0.8259345470302487,
          -0.5344231959611864,
          0.2087093330112371,
          -1.3793224252139256,
          1.1634655806238012,
          0.549260665090918,
          -1.3601857546097496
        ],
        "eef_pose_l": [
          557.5194079561945,
          401.5018168919658,
          40.204116413815,
          1.7050825158527836,
          -0.20240045274110727,
          0.693093236473884
        ],
        "eef_pose_r": [
          477.07776531201876,
          -347.5019860321308,
          -33.78265528556412,
          1.5944055929639864,
          -0.15017074119690696,
          2.00158302648381
        ],
        "joint_status_l": {
          "velocity": [
            -0.00015322457924682453,
            -0.0030603108855942196,
            0.0002145785155116542,
            0.0058658822710278,
            -0.00012866785409348935,
            -0.003651886915534419,
            9.366310482761264e-05
          ],
          "torque": [
            -41.37451171875,
            3.5888671875,
            -5.865478515625,
            1.81884765625,
            -6.5643310546875,
            -2.6019287109375,
            0.33599853515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -6.687308081706256,
            7.313744186900895,
            2.5188230961143976,
            -11.981403113798805,
            11.777843920032893,
            0.01490651308078128,
            -17.31754467399682
          ],
          "torque": [
            19.1162109375,
            17.21923828125,
            17.7734375,
            -7.65380859375,
            1.9683837890625,
            4.8504638671875,
            -0.9649658203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.0,
            -8.2,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.0,
            -8.2,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.9,
            -17.2,
            0.6,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.9,
            -17.2,
            0.6,
            1.0,
            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": -146,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525453963035927,
          -0.8462177750584955,
          -0.05514619195358907,
          -0.23215648361707306,
          -0.04914649129911448,
          -1.3379686084616131,
          0.47947344947101683
        ],
        "act_joint_pos_r": [
          -0.8935911323787179,
          -0.45683038638012174,
          0.2369116945217683,
          -1.507230028344163,
          1.277386482805383,
          0.5531316426565719,
          -1.5442343140855053
        ],
        "act_eef_pose_l": [
          557.5194079561945,
          401.5018168919658,
          40.204116413815,
          1.7050825158527836,
          -0.20240045274110727,
          0.693093236473884
        ],
        "act_eef_pose_r": [
          449.0470644042035,
          -352.6131481268786,
          -28.975056653079946,
          1.6059701209976578,
          -0.09935374485988074,
          1.9825173863024446
        ],
        "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": [
          0.35254514544995563,
          -0.8462227852867468,
          -0.05514584065354774,
          -0.23214688021069704,
          -0.04914670194938555,
          -1.337974587196348,
          0.47947360281280194
        ],
        "joint_pos_r": [
          -0.831421845532044,
          -0.5283157549080036,
          0.21085634685508867,
          -1.389351095613872,
          1.172975488207424,
          0.549382603322927,
          -1.374656549148391
        ],
        "eef_pose_l": [
          557.5197590324858,
          401.50133493136946,
          40.203979112172476,
          1.7050820620256073,
          -0.2024005260836816,
          0.693091992427357
        ],
        "eef_pose_r": [
          474.8339147683611,
          -348.03413249176515,
          -33.62031115259049,
          1.5954037188316057,
          -0.14681290198336608,
          1.9996651621585764
        ],
        "joint_status_l": {
          "velocity": [
            -0.00012613318567389342,
            -0.002519222192631787,
            0.00017663923002064763,
            0.004828744970986065,
            -0.0001059182958007554,
            -0.003006202607735986,
            7.710268068450432e-05
          ],
          "torque": [
            -41.162109375,
            3.56689453125,
            -5.999755859375,
            1.800537109375,
            -6.5771484375,
            -2.60009765625,
            0.33233642578125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -6.714084958090005,
            7.720192106116297,
            2.8138945566176243,
            -12.730549267390145,
            11.276054847119354,
            0.4048843066088992,
            -18.313858474824585
          ],
          "torque": [
            18.74267578125,
            19.1162109375,
            17.059326171875,
            -7.830810546875,
            1.658935546875,
            4.918212890625,
            -0.84228515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -15.8,
            -7.9,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -15.8,
            -7.9,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.9,
            -16.8,
            1.2,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.9,
            -16.8,
            1.2,
            1.0,
            0.0,
            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": -135,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254514544995563,
          -0.8462227852867468,
          -0.05514584065354774,
          -0.23214688021069704,
          -0.04914670194938555,
          -1.337974587196348,
          0.47947360281280194
        ],
        "act_joint_pos_r": [
          -0.898056042003124,
          -0.45365019115109867,
          0.23896229817541953,
          -1.521175165123528,
          1.2734041419802118,
          0.5552584636482233,
          -1.5567638160896835
        ],
        "act_eef_pose_l": [
          557.5197590324858,
          401.50133493136946,
          40.203979112172476,
          1.7050820620256073,
          -0.2024005260836816,
          0.693091992427357
        ],
        "act_eef_pose_r": [
          446.2790644042035,
          -348.8955481268787,
          -27.443856653080047,
          1.6019324912772608,
          -0.09022415645694225,
          1.9934378722356767
        ],
        "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": [
          0.3525449389493507,
          -0.8462269096645223,
          -0.0551455514663071,
          -0.2321389747673039,
          -0.04914687535491777,
          -1.3379795088405182,
          0.4794737290424703
        ],
        "joint_pos_r": [
          -0.8443065727132454,
          -0.5136680507013475,
          0.21627178063307073,
          -1.4142523637914803,
          1.1936288514720748,
          0.5503191393392994,
          -1.4098320470407264
        ],
        "eef_pose_l": [
          557.5200480281909,
          401.50093817981576,
          40.20386609016981,
          1.705081688440377,
          -0.20240058646324113,
          0.6930909683373049
        ],
        "eef_pose_r": [
          469.3837277191242,
          -348.7653823269602,
          -32.7108622224074,
          1.5966086274675289,
          -0.13670145124801136,
          1.99706862516349
        ],
        "joint_status_l": {
          "velocity": [
            -0.00010383177784234476,
            -0.002073802530588864,
            0.00014540792914186085,
            0.00397498226489823,
            -8.719105065724264e-05,
            -0.0024746807127939974,
            6.34702783663954e-05
          ],
          "torque": [
            -41.05224609375,
            3.30322265625,
            -6.1279296875,
            1.580810546875,
            -6.58447265625,
            -2.596435546875,
            0.3277587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -5.804771480723225,
            6.481737662793474,
            2.450503620832656,
            -11.547321973802482,
            8.615477274959815,
            0.5334312926486007,
            -15.868163050834383
          ],
          "torque": [
            18.74267578125,
            16.42822265625,
            17.022705078125,
            -9.698486328125,
            1.1297607421875,
            6.002197265625,
            -0.94207763671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -3.0,
            -16.5,
            -8.1,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -3.0,
            -16.5,
            -8.1,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -6.0,
            -17.0,
            -0.2,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -6.0,
            -17.0,
            -0.2,
            1.1,
            0.0,
            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": -156,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525449389493507,
          -0.8462269096645223,
          -0.0551455514663071,
          -0.2321389747673039,
          -0.04914687535491777,
          -1.3379795088405182,
          0.4794737290424703
        ],
        "act_joint_pos_r": [
          -0.8985585498875444,
          -0.4551200728730645,
          0.23910213806159647,
          -1.5210466108279457,
          1.257210726418282,
          0.5555395208511732,
          -1.5486269574800158
        ],
        "act_eef_pose_l": [
          557.5200480281909,
          401.50093817981576,
          40.20386609016981,
          1.705081688440377,
          -0.20240058646324113,
          0.6930909683373049
        ],
        "act_eef_pose_r": [
          445.5934644042035,
          -346.6907481268787,
          -27.597456653079917,
          1.6009309589268201,
          -0.08603518762780661,
          2.002960017670615
        ],
        "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": [
          0.35254478089413327,
          -0.8462300664563688,
          -0.05514533012287711,
          -0.23213292395416196,
          -0.0491470080792219,
          -1.3379832758587287,
          0.4794738256584471
        ],
        "joint_pos_r": [
          -0.8531719354191807,
          -0.5038868090068126,
          0.2200101219613729,
          -1.431822503413765,
          1.2058025412844362,
          0.5511474733939369,
          -1.4335141135227467
        ],
        "eef_pose_l": [
          557.5202692205378,
          401.50063450339826,
          40.20377958548718,
          1.7050814024997734,
          -0.20240063268044228,
          0.6930901844996339
        ],
        "eef_pose_r": [
          465.52811520259974,
          -348.7292026058748,
          -31.964768920400502,
          1.5971643790306054,
          -0.12892140121715712,
          1.9969848259925587
        ],
        "joint_status_l": {
          "velocity": [
            -8.676231777471344e-05,
            -0.001732879066018711,
            0.000121503543726309,
            0.003321513718734792,
            -7.285724856753717e-05,
            -0.002067854744325359,
            5.30360604322766e-05
          ],
          "torque": [
            -40.78857421875,
            3.08349609375,
            -6.243896484375,
            1.519775390625,
            -6.5863037109375,
            -2.662353515625,
            0.325927734375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.901609797330231,
            5.266652170842434,
            2.0618769270146498,
            -9.63591940448083,
            5.551920249319053,
            0.47432713585005004,
            -12.431820490437673
          ],
          "torque": [
            18.28125,
            17.138671875,
            17.169189453125,
            -8.050537109375,
            0.8203125,
            6.0040283203125,
            -0.8148193359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.3,
            -7.7,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -16.3,
            -7.7,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.9,
            -17.0,
            1.0,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.9,
            -17.0,
            1.0,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 179,
          "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": [
          0.35254478089413327,
          -0.8462300664563688,
          -0.05514533012287711,
          -0.23213292395416196,
          -0.0491470080792219,
          -1.3379832758587287,
          0.4794738256584471
        ],
        "act_joint_pos_r": [
          -0.8982198370723773,
          -0.45734639046109016,
          0.23865096596592167,
          -1.5209270618900668,
          1.2069236328525195,
          0.5470777566513435,
          -1.5110378066592138
        ],
        "act_eef_pose_l": [
          557.5202692205378,
          401.50063450339826,
          40.20377958548718,
          1.7050814024997734,
          -0.20240063268044228,
          0.6930901844996339
        ],
        "act_eef_pose_r": [
          443.3798644042035,
          -340.78834812687865,
          -29.316656653079917,
          1.6076491398094086,
          -0.08308297921814087,
          2.0306854772691274
        ],
        "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": [
          0.3525446388500625,
          -0.8462329034621424,
          -0.055145131201751046,
          -0.23212748609425432,
          -0.04914712735842542,
          -1.337986661274345,
          0.4794739124871319
        ],
        "joint_pos_r": [
          -0.8611584491114185,
          -0.49551566403937486,
          0.22333483938110874,
          -1.447584585470652,
          1.209217402989647,
          0.5509691749457132,
          -1.4496253661816922
        ],
        "eef_pose_l": [
          557.5204680025698,
          401.50036158714937,
          40.20370184541744,
          1.7050811455259003,
          -0.20240067421785832,
          0.6930894800648423
        ],
        "eef_pose_r": [
          461.7550717942941,
          -347.7496108339932,
          -31.505213291736425,
          1.5985904806395925,
          -0.12104584190890522,
          2.0010558028427536
        ],
        "joint_status_l": {
          "velocity": [
            -7.142201052801056e-05,
            -0.0014264914787176508,
            0.00010002069572578876,
            0.0027342421693443697,
            -5.9975474475670865e-05,
            -0.0017022406417765978,
            4.365883921053637e-05
          ],
          "torque": [
            -40.67138671875,
            3.06884765625,
            -6.38427734375,
            1.507568359375,
            -6.5899658203125,
            -2.6788330078125,
            0.3240966796875
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.002511852005952,
            4.122159969845551,
            1.6540928862978088,
            -7.920753843148276,
            -0.24771986870320006,
            -0.42026078086321306,
            -6.6323479609256
          ],
          "torque": [
            17.666015625,
            18.2373046875,
            17.24853515625,
            -8.3740234375,
            -0.413818359375,
            4.2279052734375,
            -0.8404541015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -16.8,
            -6.7,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.0,
            -16.8,
            -6.7,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -17.2,
            1.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -17.2,
            1.6,
            1.1,
            0.1,
            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": -188,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525446388500625,
          -0.8462329034621424,
          -0.055145131201751046,
          -0.23212748609425432,
          -0.04914712735842542,
          -1.337986661274345,
          0.4794739124871319
        ],
        "act_joint_pos_r": [
          -0.9026595817873071,
          -0.46449127531245227,
          0.236863047089861,
          -1.5303633819661917,
          1.2058729310390552,
          0.5418669107719126,
          -1.5116864041647355
        ],
        "act_eef_pose_l": [
          557.5204680025698,
          401.50036158714937,
          40.20370184541744,
          1.7050811455259003,
          -0.20240067421785832,
          0.6930894800648423
        ],
        "act_eef_pose_r": [
          441.1446644042035,
          -333.79874812687865,
          -32.17585665308002,
          1.612386403397372,
          -0.09368898747331093,
          2.043344006732068
        ],
        "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": [
          0.3525445642232196,
          -0.8462343939628223,
          -0.05514502669294941,
          -0.23212462916179225,
          -0.049147190025105744,
          -1.3379884398975415,
          0.4794739581050207
        ],
        "joint_pos_r": [
          -0.8677521617780177,
          -0.49004706245144114,
          0.225650985348238,
          -1.460706567546942,
          1.2087217537174284,
          0.5497414373655679,
          -1.459794474561676
        ],
        "eef_pose_l": [
          557.5205724370367,
          401.5002182019651,
          40.20366100309673,
          1.7050810105177119,
          -0.20240069604148936,
          0.6930891099699938
        ],
        "eef_pose_r": [
          458.508133140977,
          -345.8259140457454,
          -31.577563182138306,
          1.600731645696142,
          -0.11597948761452631,
          2.0072476683927576
        ],
        "joint_status_l": {
          "velocity": [
            -6.336254942951314e-05,
            -0.0012655221528490301,
            8.873407802978406e-05,
            0.0024257025632579143,
            -5.320767260119652e-05,
            -0.0015101550019380738,
            3.873225251638246e-05
          ],
          "torque": [
            -40.53955078125,
            3.10546875,
            -6.45751953125,
            1.568603515625,
            -6.591796875,
            -2.6824951171875,
            0.32135009765625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.7698901740359503,
            2.7599436108256548,
            1.2108669554833362,
            -7.522714086686477,
            -0.3076637752066347,
            -0.8504237902058343,
            -5.604163111174287
          ],
          "torque": [
            17.01416015625,
            17.58544921875,
            16.473388671875,
            -8.447265625,
            -0.289306640625,
            3.720703125,
            -0.84503173828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.5,
            -8.4,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -16.5,
            -8.4,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.4,
            -16.0,
            0.0,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.4,
            -16.0,
            0.0,
            1.0,
            0.0,
            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": -162,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525445642232196,
          -0.8462343939628223,
          -0.05514502669294941,
          -0.23212462916179225,
          -0.049147190025105744,
          -1.3379884398975415,
          0.4794739581050207
        ],
        "act_joint_pos_r": [
          -0.8981143689465352,
          -0.4783323770692589,
          0.23193121360886768,
          -1.520597510975757,
          1.1934639530242084,
          0.5345931790073668,
          -1.5003362878246216
        ],
        "act_eef_pose_l": [
          557.5205724370367,
          401.5002182019651,
          40.20366100309673,
          1.7050810105177119,
          -0.20240069604148936,
          0.6930891099699938
        ],
        "act_eef_pose_r": [
          442.8646644042035,
          -329.1283481268787,
          -36.059056653080006,
          1.6187697663074565,
          -0.09795105374001305,
          2.052149891852619
        ],
        "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": [
          0.3525444462456597,
          -0.8462367502950275,
          -0.055144861475007315,
          -0.23212011263787558,
          -0.049147289094847266,
          -1.3379912517225716,
          0.47947403022233137
        ],
        "joint_pos_r": [
          -0.874081547652345,
          -0.48700921144175335,
          0.22715692451132977,
          -1.4732310335823993,
          1.2062652789055943,
          0.5470538785947647,
          -1.4685062242076488
        ],
        "eef_pose_l": [
          557.5207375356956,
          401.49999152300074,
          40.203596436335914,
          1.7050807970836528,
          -0.20240073054356186,
          0.6930885248867888
        ],
        "eef_pose_r": [
          455.3281795251246,
          -342.67748565801617,
          -32.38415009611683,
          1.6042111560351051,
          -0.11208479517451352,
          2.0157563352935806
        ],
        "joint_status_l": {
          "velocity": [
            -5.0621348446355796e-05,
            -0.0010110457804302087,
            7.089106651703148e-05,
            0.001937932366358197,
            -4.250845608844145e-05,
            -0.001206486855309663,
            3.094381284540759e-05
          ],
          "torque": [
            -40.3271484375,
            3.515625,
            -6.60400390625,
            1.513671875,
            -6.6119384765625,
            -2.7081298828125,
            0.322265625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.595468150531133,
            0.937070474813062,
            0.5156080154884446,
            -5.115428686977452,
            -1.3825024204621172,
            -1.3457158656713375,
            -3.437545485647675
          ],
          "torque": [
            17.14599609375,
            19.27734375,
            17.034912109375,
            -7.763671875,
            -1.1883544921875,
            3.8232421875,
            -0.6243896484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.9,
            -9.4,
            1.4,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -16.9,
            -9.4,
            1.4,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.6,
            -16.7,
            0.7,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.6,
            -16.7,
            0.7,
            1.0,
            0.0,
            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": -148,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525444462456597,
          -0.8462367502950275,
          -0.055144861475007315,
          -0.23212011263787558,
          -0.049147289094847266,
          -1.3379912517225716,
          0.47947403022233137
        ],
        "act_joint_pos_r": [
          -0.8882028931364347,
          -0.49415897044559565,
          0.22628736312927913,
          -1.5037044081104152,
          1.1830302264223587,
          0.5264514231037662,
          -1.4919036651028281
        ],
        "act_eef_pose_l": [
          557.5207375356956,
          401.49999152300074,
          40.203596436335914,
          1.7050807970836528,
          -0.20240073054356186,
          0.6930885248867888
        ],
        "act_eef_pose_r": [
          446.95826440420353,
          -326.10354812687865,
          -39.22305665307999,
          1.6240511642772486,
          -0.09615203612288117,
          2.0561398019296124
        ],
        "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": [
          0.3525443576383067,
          -0.8462385200244535,
          -0.05514473738764258,
          -0.23211672049085155,
          -0.04914736350143406,
          -1.3379933635510675,
          0.47947408438622485
        ],
        "joint_pos_r": [
          -0.8773755807953445,
          -0.4873634624824112,
          0.227348194450997,
          -1.4800561562917491,
          1.2025304775154702,
          0.5436723062862042,
          -1.4734605928689446
        ],
        "eef_pose_l": [
          557.5208615320483,
          401.4998212740817,
          40.203547943991566,
          1.705080636783736,
          -0.20240075645731848,
          0.693088085458254
        ],
        "eef_pose_r": [
          453.5316892757343,
          -339.71267088442227,
          -33.52654492816308,
          1.6077427129286,
          -0.10915505017353908,
          2.0230854653516896
        ],
        "joint_status_l": {
          "velocity": [
            -4.105203688098413e-05,
            -0.0008199206389392089,
            5.749002640609291e-05,
            0.0015715912924374464,
            -3.4472781740291225e-05,
            -0.0009784161036918704,
            2.5094284872295702e-05
          ],
          "torque": [
            -40.29052734375,
            3.7353515625,
            -6.744384765625,
            1.568603515625,
            -6.6119384765625,
            -2.603759765625,
            0.32318115234375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.1693152457281641,
            -0.7338932150000588,
            -0.11456640379026162,
            -2.553935872104063,
            -2.105965005938515,
            -1.8598005318191113,
            -1.9917930564634645
          ],
          "torque": [
            17.1826171875,
            10.94970703125,
            10.9130859375,
            -9.033203125,
            -1.453857421875,
            4.2132568359375,
            -0.87066650390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.9,
            -16.7,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.9,
            -16.7,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.5,
            -16.7,
            1.0,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.5,
            -16.7,
            1.0,
            1.0,
            0.0,
            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": -148,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525443576383067,
          -0.8462385200244535,
          -0.05514473738764258,
          -0.23211672049085155,
          -0.04914736350143406,
          -1.3379933635510675,
          0.47947408438622485
        ],
        "act_joint_pos_r": [
          -0.883708295948674,
          -0.5007250826733252,
          0.2241213169992843,
          -1.498718354686477,
          1.1769728858434758,
          0.5215824244609428,
          -1.4874743602624716
        ],
        "act_eef_pose_l": [
          557.5208615320483,
          401.4998212740817,
          40.203547943991566,
          1.705080636783736,
          -0.20240075645731848,
          0.693088085458254
        ],
        "act_eef_pose_r": [
          448.4318644042035,
          -323.97634812687863,
          -40.260656653080105,
          1.6264590459910524,
          -0.09565112203356381,
          2.0601730372787745
        ],
        "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": [
          0.35254429042942437,
          -0.8462398623683206,
          -0.05514464326708911,
          -0.23211414753947943,
          -0.04914741993900243,
          -1.337994965377871,
          0.47947412546966345
        ],
        "joint_pos_r": [
          -0.8784000217548609,
          -0.48841858398842325,
          0.2271333830210751,
          -1.4825057699719455,
          1.2000640554776596,
          0.5415152708912888,
          -1.4753472844567357
        ],
        "eef_pose_l": [
          557.5209555827545,
          401.49969213925687,
          40.20351116283027,
          1.7050805151960426,
          -0.20240077611346957,
          0.693087752150537
        ],
        "eef_pose_r": [
          452.87704202621507,
          -338.07209283745283,
          -34.23375002097421,
          1.609738540806672,
          -0.10765986570261728,
          2.0269704135052704
        ],
        "joint_status_l": {
          "velocity": [
            -3.379369140077415e-05,
            -0.0006749517771353908,
            4.732530639595112e-05,
            0.0012937207394259076,
            -2.8377704075488452e-05,
            -0.0008054239106769501,
            2.0657404231627652e-05
          ],
          "torque": [
            -40.17333984375,
            4.00634765625,
            -6.878662109375,
            1.605224609375,
            -6.6064453125,
            -2.4224853515625,
            0.3167724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5732767050394827,
            -1.3290626593613908,
            -0.3252935363333709,
            -1.7509075089119364,
            -2.493772770597147,
            -2.152683924458998,
            -1.3096855599084023
          ],
          "torque": [
            16.669921875,
            9.86572265625,
            10.943603515625,
            -8.282470703125,
            -1.5985107421875,
            4.017333984375,
            -0.7470703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.9,
            -17.1,
            -9.1,
            1.5,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.1,
            -9.1,
            1.5,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -17.2,
            1.7,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -17.2,
            1.7,
            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": -146,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254429042942437,
          -0.8462398623683206,
          -0.05514464326708911,
          -0.23211414753947943,
          -0.04914741993900243,
          -1.337994965377871,
          0.47947412546966345
        ],
        "act_joint_pos_r": [
          -0.8756968753964037,
          -0.5132407009441001,
          0.22006144850976656,
          -1.4870384525028848,
          1.1573994248023132,
          0.519486062764174,
          -1.4681810000539979
        ],
        "act_eef_pose_l": [
          557.5209555827545,
          401.49969213925687,
          40.20351116283027,
          1.7050805151960426,
          -0.20240077611346957,
          0.693087752150537
        ],
        "act_eef_pose_r": [
          451.08866440420354,
          -319.93874812687864,
          -41.314256653080065,
          1.6252036034075539,
          -0.09787224451046786,
          2.070395968486156
        ],
        "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": [
          0.35254423510363747,
          -0.8462409673745073,
          -0.05514456578784076,
          -0.23211202950754065,
          -0.04914746639793425,
          -1.3379962839882296,
          0.4794741592892047
        ],
        "joint_pos_r": [
          -0.8787609318287941,
          -0.4914968743778557,
          0.2263081008090886,
          -1.4845301498782075,
          1.194570061793155,
          0.5378398247233509,
          -1.476100368405076
        ],
        "eef_pose_l": [
          557.5210330039778,
          401.4995858361496,
          40.20348088514277,
          1.7050804151061827,
          -0.20240079229457594,
          0.6930874777743248
        ],
        "eef_pose_r": [
          452.3143291934,
          -335.27308961443595,
          -35.39852972891754,
          1.6126538211791899,
          -0.10571752173154196,
          2.033575272227881
        ],
        "joint_status_l": {
          "velocity": [
            -2.7818682912794657e-05,
            -0.0005556146280838448,
            3.895779437934621e-05,
            0.001064980036602492,
            -2.336028742666585e-05,
            -0.0006630181932365531,
            1.700500140700001e-05
          ],
          "torque": [
            -40.1953125,
            3.896484375,
            -7.000732421875,
            1.67236328125,
            -6.6082763671875,
            -2.3712158203125,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.33090833507909423,
            -2.348264010809231,
            -0.6746185515162928,
            -0.2708886940290256,
            -4.014310399254484,
            -1.9821478312658236,
            0.855266557177714
          ],
          "torque": [
            23.19580078125,
            9.169921875,
            10.552978515625,
            -7.3486328125,
            -1.4080810546875,
            3.585205078125,
            0.32958984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -16.5,
            -8.5,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -16.5,
            -8.5,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.8,
            -17.1,
            0.9,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.8,
            -17.1,
            0.9,
            1.0,
            0.1,
            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": -143,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254423510363747,
          -0.8462409673745073,
          -0.05514456578784076,
          -0.23211202950754065,
          -0.04914746639793425,
          -1.3379962839882296,
          0.4794741592892047
        ],
        "act_joint_pos_r": [
          -0.865238984769491,
          -0.5297062993133363,
          0.2150449535832931,
          -1.4719262673135038,
          1.1495062540648924,
          0.5247866370489771,
          -1.4555585909169517
        ],
        "act_eef_pose_l": [
          557.5210330039778,
          401.4995858361496,
          40.20348088514277,
          1.7050804151061827,
          -0.20240079229457594,
          0.6930874777743248
        ],
        "act_eef_pose_r": [
          455.52146440420347,
          -316.01234812687863,
          -40.87585665308006,
          1.6152548138077014,
          -0.10303745586126566,
          2.075933474874149
        ],
        "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": [
          0.35254419275737275,
          -0.8462418131443928,
          -0.05514450648535375,
          -0.23211040836943958,
          -0.0491475019575229,
          -1.3379972932503907,
          0.4794741851746251
        ],
        "joint_pos_r": [
          -0.8776114751138089,
          -0.49629817809966814,
          0.2249121327242845,
          -1.4840954730338405,
          1.1875393102238692,
          0.5349027405424379,
          -1.473966672018588
        ],
        "eef_pose_l": [
          557.5210922617309,
          401.4995044716822,
          40.20345771080713,
          1.7050803384976367,
          -0.20240080467976773,
          0.6930872677671698
        ],
        "eef_pose_r": [
          452.3813119601618,
          -332.3303930413046,
          -36.44161925336846,
          1.614309086254743,
          -0.10468784437091949,
          2.040423593111064
        ],
        "joint_status_l": {
          "velocity": [
            -2.3245421143514022e-05,
            -0.0004642741746607726,
            3.2553314655014987e-05,
            0.0008899022851949212,
            -1.9519965144265683e-05,
            -0.0005540210938903556,
            1.4209458498726235e-05
          ],
          "torque": [
            -40.17333984375,
            4.2626953125,
            -7.122802734375,
            1.678466796875,
            -6.6119384765625,
            -2.3236083984375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.3361895483825492,
            -3.6079706796687816,
            -1.065623918329539,
            1.3142354564941172,
            -4.107448922439971,
            -1.0925069555236533,
            1.9880141256347628
          ],
          "torque": [
            26.1181640625,
            6.55517578125,
            9.051513671875,
            -4.6875,
            -1.8731689453125,
            4.105224609375,
            0.50262451171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.9,
            -16.7,
            -9.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -16.7,
            -9.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.9,
            -17.4,
            1.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.9,
            -17.4,
            1.1,
            1.1,
            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": -124,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254419275737275,
          -0.8462418131443928,
          -0.05514450648535375,
          -0.23211040836943958,
          -0.0491475019575229,
          -1.3379972932503907,
          0.4794741851746251
        ],
        "act_joint_pos_r": [
          -0.8520050914436763,
          -0.5496967872096991,
          0.20938590434655127,
          -1.4533738777692768,
          1.1544754346645867,
          0.5326669346326868,
          -1.452900604337357
        ],
        "act_eef_pose_l": [
          557.5210922617309,
          401.4995044716822,
          40.20345771080713,
          1.7050803384976367,
          -0.20240080467976773,
          0.6930872677671698
        ],
        "act_eef_pose_r": [
          461.86226440420353,
          -312.51154812687867,
          -39.52705665308008,
          1.6008999889862159,
          -0.10831787930389816,
          2.075643305856999
        ],
        "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": [
          0.35254415470082573,
          -0.8462425732369694,
          -0.05514445319026613,
          -0.23210895145419902,
          -0.04914753391489077,
          -1.3379982002733168,
          0.4794742084378272
        ],
        "joint_pos_r": [
          -0.8739305649192496,
          -0.5044607978855008,
          0.2225289494057739,
          -1.4798503511407322,
          1.1813754825200615,
          0.534003363426776,
          -1.4704120338133793
        ],
        "eef_pose_l": [
          557.5211491996425,
          401.49942629193407,
          40.20343544373196,
          1.705080264887899,
          -0.2024008165803182,
          0.6930870659804598
        ],
        "eef_pose_r": [
          453.6733963689887,
          -329.09614458691794,
          -37.12464445952003,
          1.6128428548395375,
          -0.1051197361947631,
          2.0466135809371186
        ],
        "joint_status_l": {
          "velocity": [
            -1.9135435014305813e-05,
            -0.00038218659792477183,
            2.6797614960383243e-05,
            0.0007325600797081222,
            -1.606867117143196e-05,
            -0.0004560655071372821,
            1.1697106838681748e-05
          ],
          "torque": [
            -40.18798828125,
            4.423828125,
            -7.257080078125,
            1.6845703125,
            -6.610107421875,
            -2.2998046875,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.3678812984364583,
            -4.88534276153052,
            -1.4194070032242934,
            2.8593747913667755,
            -2.9051194864724295,
            -0.14433005297442847,
            1.8911786060797908
          ],
          "torque": [
            27.802734375,
            8.60595703125,
            9.783935546875,
            -3.533935546875,
            -1.5911865234375,
            4.1290283203125,
            0.57403564453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -0.9,
            -16.3,
            -9.0,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -0.9,
            -16.3,
            -9.0,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -16.7,
            2.3,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -16.7,
            2.3,
            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": -114,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254415470082573,
          -0.8462425732369694,
          -0.05514445319026613,
          -0.23210895145419902,
          -0.04914753391489077,
          -1.3379982002733168,
          0.4794742084378272
        ],
        "act_joint_pos_r": [
          -0.8447071010246998,
          -0.5628891790628235,
          0.20619592023571134,
          -1.446733458781848,
          1.155359734230654,
          0.5358569741590347,
          -1.453782335125884
        ],
        "act_eef_pose_l": [
          557.5211491996425,
          401.49942629193407,
          40.20343544373196,
          1.705080264887899,
          -0.2024008165803182,
          0.6930870659804598
        ],
        "act_eef_pose_r": [
          464.8662644042035,
          -308.00914812687864,
          -38.54305665307993,
          1.5919977508384808,
          -0.11039990190247356,
          2.081009610429907
        ],
        "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": [
          0.35254413237164517,
          -0.8462430192113364,
          -0.05514442192007131,
          -0.23210809662825838,
          -0.0491475526654579,
          -1.3379987324571425,
          0.4794742220872065
        ],
        "joint_pos_r": [
          -0.8690395009280648,
          -0.5142927073482971,
          0.2197617253311351,
          -1.4742460377160689,
          1.1767422498261297,
          0.5342105024984526,
          -1.467438430706412
        ],
        "eef_pose_l": [
          557.5211767627401,
          401.49938844566896,
          40.20342466446289,
          1.7050802292540301,
          -0.2024008223413379,
          0.6930869682971011
        ],
        "eef_pose_r": [
          455.56299381196607,
          -325.60977536862384,
          -37.488254714786876,
          1.6094801705982307,
          -0.10614158747198947,
          2.0523844484703324
        ],
        "joint_status_l": {
          "velocity": [
            -1.672395466556509e-05,
            -0.0003340227863191103,
            2.342053351256368e-05,
            0.0006402416010686807,
            -1.4043669671615078e-05,
            -0.00039859134837172405,
            1.0223017543609103e-05
          ],
          "torque": [
            -40.10009765625,
            4.306640625,
            -7.342529296875,
            1.74560546875,
            -6.61376953125,
            -2.2027587890625,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.627821686106202,
            -5.248264155891746,
            -1.465063740560435,
            2.971270891945821,
            -2.3092435768141684,
            0.17781369500813327,
            1.4748148253591609
          ],
          "torque": [
            29.06982421875,
            9.1845703125,
            10.009765625,
            -3.411865234375,
            -1.402587890625,
            6.0772705078125,
            0.4229736328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -15.9,
            -7.7,
            1.3,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -15.9,
            -7.7,
            1.3,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.5,
            -17.5,
            -1.0,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.5,
            -17.5,
            -1.0,
            1.1,
            0.0,
            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": -89,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254413237164517,
          -0.8462430192113364,
          -0.05514442192007131,
          -0.23210809662825838,
          -0.0491475526654579,
          -1.3379987324571425,
          0.4794742220872065
        ],
        "act_joint_pos_r": [
          -0.8413896584321078,
          -0.5700256394596029,
          0.20458152368602506,
          -1.4407385613818993,
          1.1409782908267836,
          0.5400993927069829,
          -1.4380976904992275
        ],
        "act_eef_pose_l": [
          557.5211767627401,
          401.49938844566896,
          40.20342466446289,
          1.7050802292540301,
          -0.2024008223413379,
          0.6930869682971011
        ],
        "act_eef_pose_r": [
          465.9126644042035,
          -305.0499481268787,
          -38.12865665308004,
          1.58616743792462,
          -0.11415620179243381,
          2.089741948870688
        ],
        "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": [
          0.35254410309811907,
          -0.8462436038831344,
          -0.05514438092488777,
          -0.23210697595259433,
          -0.04914757724742635,
          -1.337999430149426,
          0.4794742399815244
        ],
        "joint_pos_r": [
          -0.8639786345637507,
          -0.5244712449134536,
          0.2169728762348509,
          -1.4682118204333117,
          1.1707010713684134,
          0.5351114633819273,
          -1.4626766808490657
        ],
        "eef_pose_l": [
          557.5212177265614,
          401.4993321989345,
          40.20340864450122,
          1.7050801762954386,
          -0.2024008309033626,
          0.6930868231212864
        ],
        "eef_pose_r": [
          457.4966522000293,
          -321.94136544712933,
          -37.701216862509625,
          1.6053391055115176,
          -0.10763838773440239,
          2.058882682029873
        ],
        "joint_status_l": {
          "velocity": [
            -1.3562507117370615e-05,
            -0.0002708800943551637,
            1.8993184247584338e-05,
            0.0005192121987906972,
            -1.1388895382324904e-05,
            -0.00032324280496709434,
            8.290487851780881e-06
          ],
          "torque": [
            -40.17333984375,
            4.248046875,
            -7.476806640625,
            1.7333984375,
            -6.61376953125,
            -2.23388671875,
            0.3167724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.4395374719059504,
            -4.919729511318138,
            -1.33822660638927,
            2.967024469844759,
            -3.2099656256221465,
            0.5386804795746158,
            2.654452668886975
          ],
          "torque": [
            28.10302734375,
            9.74853515625,
            9.075927734375,
            -3.094482421875,
            -1.5216064453125,
            6.214599609375,
            0.79559326171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -16.3,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.0,
            -16.3,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.6,
            -17.0,
            1.3,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.6,
            -17.0,
            1.3,
            1.1,
            0.0,
            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": -91,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254410309811907,
          -0.8462436038831344,
          -0.05514438092488777,
          -0.23210697595259433,
          -0.04914757724742635,
          -1.337999430149426,
          0.4794742399815244
        ],
        "act_joint_pos_r": [
          -0.8285972619555539,
          -0.5861708380531842,
          0.2007948943105227,
          -1.4272717339422247,
          1.12610783268846,
          0.537102495944657,
          -1.4244594870049343
        ],
        "act_eef_pose_l": [
          557.5212177265614,
          401.4993321989345,
          40.20340864450122,
          1.7050801762954386,
          -0.2024008309033626,
          0.6930868231212864
        ],
        "act_eef_pose_r": [
          470.4726644042035,
          -299.90674812687865,
          -37.23345665308011,
          1.5811193237802061,
          -0.11305552416902506,
          2.099680007094314
        ],
        "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": [
          0.3525440778454813,
          -0.8462441082468779,
          -0.05514434556062991,
          -0.23210600920821708,
          -0.049147598452919196,
          -1.3380000320096366,
          0.47947425541795424
        ],
        "joint_pos_r": [
          -0.861170143838984,
          -0.5297112065655898,
          0.21557410893185722,
          -1.4648879013887697,
          1.1670917742321003,
          0.5354760045343203,
          -1.459633116247899
        ],
        "eef_pose_l": [
          557.5212530636576,
          401.49928367793245,
          40.20339482502581,
          1.7050801306110375,
          -0.20240083828941027,
          0.6930866978861897
        ],
        "eef_pose_r": [
          458.54999244171995,
          -320.07525919882045,
          -37.745334796872214,
          1.6031834247756647,
          -0.10834093976730905,
          2.0623200796207635
        ],
        "joint_status_l": {
          "velocity": [
            -1.0835302877154618e-05,
            -0.00021641041669795413,
            1.5173957035319319e-05,
            0.00041480688528494625,
            -9.09876968213652e-06,
            -0.00025824381921779604,
            6.623402715177917e-06
          ],
          "torque": [
            -40.20263671875,
            4.1455078125,
            -7.60498046875,
            1.751708984375,
            -6.61376953125,
            -2.2650146484375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.517767492404289,
            -6.097460365679375,
            -1.5961081044120196,
            4.062426269369368,
            -4.426135144836252,
            0.1756558916228279,
            3.7986399233442825
          ],
          "torque": [
            29.96337890625,
            8.9794921875,
            9.11865234375,
            -3.692626953125,
            -1.4959716796875,
            6.2640380859375,
            0.84320068359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.6,
            -9.9,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.6,
            -9.9,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.6,
            -17.0,
            0.9,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.6,
            -17.0,
            0.9,
            1.1,
            0.1,
            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": -70,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525440778454813,
          -0.8462441082468779,
          -0.05514434556062991,
          -0.23210600920821708,
          -0.049147598452919196,
          -1.3380000320096366,
          0.47947425541795424
        ],
        "act_joint_pos_r": [
          -0.8223407640354967,
          -0.59599319035933,
          0.19878552865363158,
          -1.4257494602054082,
          1.1124408348573764,
          0.5358130028751743,
          -1.415380461505918
        ],
        "act_eef_pose_l": [
          557.5212530636576,
          401.49928367793245,
          40.20339482502581,
          1.7050801306110375,
          -0.20240083828941027,
          0.6930866978861897
        ],
        "act_eef_pose_r": [
          471.6846644042035,
          -294.04514812687864,
          -36.089456653080106,
          1.5760087885505136,
          -0.11293446151719806,
          2.113494392628393
        ],
        "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": [
          0.35254406135172417,
          -0.8462444376719939,
          -0.055144322462469295,
          -0.23210537777924808,
          -0.0491476123032842,
          -1.3380004251145587,
          0.4794742655002564
        ],
        "joint_pos_r": [
          -0.8549598800424852,
          -0.5404019528439297,
          0.21281614076084926,
          -1.4581272881474812,
          1.1588600543748766,
          0.5356706071845158,
          -1.4527595092800423
        ],
        "eef_pose_l": [
          557.5212761440241,
          401.4992519864046,
          40.203385798862996,
          1.7050801007722884,
          -0.20240084311363968,
          0.6930866160888908
        ],
        "eef_pose_r": [
          460.781790279257,
          -316.16593328632445,
          -37.66065682434953,
          1.5988370599744512,
          -0.10940433099486332,
          2.069796913125075
        ],
        "joint_status_l": {
          "velocity": [
            -9.054029526112117e-06,
            -0.00018083355346476537,
            1.2679429284290222e-05,
            0.0003466145679364985,
            -7.602974361198278e-06,
            -0.0002157897398546993,
            5.534546154706277e-06
          ],
          "torque": [
            -40.2685546875,
            4.31396484375,
            -7.611083984375,
            1.72119140625,
            -6.61376953125,
            -2.2027587890625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.5227606304832904,
            -6.003676582687412,
            -1.515261417333047,
            3.4967022880234566,
            -5.013127853587207,
            0.015378281033040508,
            4.036818100020767
          ],
          "torque": [
            29.326171875,
            6.93603515625,
            9.1552734375,
            -4.425048828125,
            -1.519775390625,
            5.2239990234375,
            0.93017578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.5,
            -17.1,
            -8.1,
            1.5,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.5,
            -17.1,
            -8.1,
            1.5,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -16.9,
            -0.1,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -16.9,
            -0.1,
            1.0,
            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": -114,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254406135172417,
          -0.8462444376719939,
          -0.055144322462469295,
          -0.23210537777924808,
          -0.0491476123032842,
          -1.3380004251145587,
          0.4794742655002564
        ],
        "act_joint_pos_r": [
          -0.8223393732385329,
          -0.601924065891923,
          0.19780292536940458,
          -1.4262011290923169,
          1.102049484635975,
          0.5368436720601085,
          -1.4024302344851285
        ],
        "act_eef_pose_l": [
          557.5212761440241,
          401.4992519864046,
          40.203385798862996,
          1.7050801007722884,
          -0.20240084311363968,
          0.6930866160888908
        ],
        "act_eef_pose_r": [
          471.1414644042035,
          -289.85074812687867,
          -36.49905665308006,
          1.5736372861695629,
          -0.12099000835553411,
          2.123903197505212
        ],
        "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": [
          0.35254404652880034,
          -0.8462447337260263,
          -0.05514430170417474,
          -0.23210481031464544,
          -0.04914762475059379,
          -1.338000778397571,
          0.4794742745612116
        ],
        "joint_pos_r": [
          -0.8484005752742947,
          -0.5520898446899335,
          0.2099104161408865,
          -1.4516554139905937,
          1.1486334177402016,
          0.5357877606004321,
          -1.444130936039606
        ],
        "eef_pose_l": [
          557.521296886291,
          401.4992235052317,
          40.20337768707691,
          1.70508007395624,
          -0.20240084744919276,
          0.6930865425777318
        ],
        "eef_pose_r": [
          462.9781413097586,
          -311.4290657973752,
          -37.46806858062621,
          1.5939627169420358,
          -0.11107097463994506,
          2.0793492691191946
        ],
        "joint_status_l": {
          "velocity": [
            -7.453201167351153e-06,
            -0.000148860660686978,
            1.0437599617940663e-05,
            0.00028533019835741413,
            -6.258704610129229e-06,
            -0.00017763629855949148,
            4.555992028087985e-06
          ],
          "torque": [
            -40.21728515625,
            4.48974609375,
            -7.598876953125,
            1.727294921875,
            -6.61376953125,
            -2.193603515625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.814526809831186,
            -5.3819371580634545,
            -1.307570438591421,
            2.7489816921342225,
            -5.030916396309593,
            0.11403507435980842,
            4.503542942984495
          ],
          "torque": [
            30.30029296875,
            7.53662109375,
            9.442138671875,
            -3.326416015625,
            -1.6424560546875,
            6.1322021484375,
            0.90087890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.9,
            -16.4,
            -9.7,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -16.4,
            -9.7,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.4,
            -16.8,
            -1.9,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.4,
            -16.8,
            -1.9,
            1.1,
            0.0,
            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": -97,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254404652880034,
          -0.8462447337260263,
          -0.05514430170417474,
          -0.23210481031464544,
          -0.04914762475059379,
          -1.338000778397571,
          0.4794742745612116
        ],
        "act_joint_pos_r": [
          -0.8225886433203846,
          -0.6090358725565118,
          0.19657072930470548,
          -1.426405470868982,
          1.0925910160226842,
          0.53684605797296,
          -1.3931488535163699
        ],
        "act_eef_pose_l": [
          557.521296886291,
          401.4992235052317,
          40.20337768707691,
          1.70508007395624,
          -0.20240084744919276,
          0.6930865425777318
        ],
        "act_eef_pose_r": [
          470.6006644042035,
          -285.21154812687865,
          -37.39905665308015,
          1.5723342249291867,
          -0.12692940141710504,
          2.134407338092166
        ],
        "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": [
          0.3525440351833595,
          -0.8462449603252872,
          -0.05514428581581081,
          -0.23210437597818837,
          -0.04914763427774373,
          -1.3380010487997975,
          0.47947428149645155
        ],
        "joint_pos_r": [
          -0.8434920145733587,
          -0.5620231339991091,
          0.20753280795986026,
          -1.4468583437231974,
          1.1391453549694013,
          0.5359875390470059,
          -1.4355787534261724
        ],
        "eef_pose_l": [
          557.5213127623641,
          401.49920170577195,
          40.20337147834047,
          1.705080053431286,
          -0.20240085076763195,
          0.6930864863124081
        ],
        "eef_pose_r": [
          464.5327485291703,
          -307.06455598488185,
          -37.41519239264437,
          1.5899748143646282,
          -0.1135820360204394,
          2.0884173122960608
        ],
        "joint_status_l": {
          "velocity": [
            -6.2279297274869805e-06,
            -0.00012438866292541206,
            8.721706912240279e-06,
            0.00023842324448075658,
            -5.229802757522606e-06,
            -0.00014843372042605552,
            3.8070080421448438e-06
          ],
          "torque": [
            -40.1806640625,
            4.6142578125,
            -7.60498046875,
            1.7333984375,
            -6.61376953125,
            -2.2119140625,
            0.3167724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.257497513991069,
            -5.077226019421843,
            -1.1838695783898956,
            2.208845121851155,
            -5.027720321562512,
            0.09271730945226153,
            4.5822940427200365
          ],
          "torque": [
            29.6484375,
            8.0859375,
            8.58154296875,
            -4.229736328125,
            -1.4886474609375,
            6.1944580078125,
            0.8148193359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -16.9,
            -8.6,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -16.9,
            -8.6,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.7,
            -17.0,
            2.0,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.7,
            -17.0,
            2.0,
            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": -53,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525440351833595,
          -0.8462449603252872,
          -0.05514428581581081,
          -0.23210437597818837,
          -0.04914763427774373,
          -1.3380010487997975,
          0.47947428149645155
        ],
        "act_joint_pos_r": [
          -0.8197434854574287,
          -0.6158080651803385,
          0.19531943618504838,
          -1.4246476723253918,
          1.0788575327403915,
          0.531934762847583,
          -1.380500684184645
        ],
        "act_eef_pose_l": [
          557.5213127623641,
          401.49920170577195,
          40.20337147834047,
          1.705080053431286,
          -0.20240085076763195,
          0.6930864863124081
        ],
        "act_eef_pose_r": [
          470.8990644042035,
          -281.09474812687864,
          -38.1646566530801,
          1.5744441708852872,
          -0.1297573678288833,
          2.1446063349485813
        ],
        "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": [
          0.3525440249872227,
          -0.8462451639698236,
          -0.05514427153695356,
          -0.2321039856404352,
          -0.04914764283978414,
          -1.338001291810016,
          0.479474287729145
        ],
        "joint_pos_r": [
          -0.8399306759512468,
          -0.5700491545047591,
          0.20567575303296096,
          -1.4434188074423193,
          1.1308890449864537,
          0.5359130361332992,
          -1.4280481346856038
        ],
        "eef_pose_l": [
          557.5213270301588,
          401.4991821146054,
          40.20336589856328,
          1.7050800349855337,
          -0.20240085374992062,
          0.6930864357468146
        ],
        "eef_pose_r": [
          465.5876665222387,
          -303.32340336518706,
          -37.494908773841985,
          1.5871314990462069,
          -0.11606188838117884,
          2.096350048096823
        ],
        "joint_status_l": {
          "velocity": [
            -5.126779001329851e-06,
            -0.00010239570169545686,
            7.179635774789972e-06,
            0.00019626801028849172,
            -4.305129641668515e-06,
            -0.0001221893910496874,
            3.1338971417937955e-06
          ],
          "torque": [
            -40.1513671875,
            4.6142578125,
            -7.611083984375,
            1.751708984375,
            -6.61376953125,
            -2.2174072265625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.1801522731781375,
            -4.9418166018719845,
            -1.1184492326778983,
            2.0272228028890282,
            -5.619237592021875,
            -0.4296408432780119,
            5.134973206166293
          ],
          "torque": [
            30.65185546875,
            8.25439453125,
            8.929443359375,
            -3.021240234375,
            -1.461181640625,
            6.1395263671875,
            0.8074951171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.6,
            -9.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -16.6,
            -9.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -16.9,
            0.8,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -16.9,
            0.8,
            1.1,
            0.1,
            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": -41,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525440249872227,
          -0.8462451639698236,
          -0.05514427153695356,
          -0.2321039856404352,
          -0.04914764283978414,
          -1.338001291810016,
          0.479474287729145
        ],
        "act_joint_pos_r": [
          -0.8180635529891682,
          -0.6189156449615684,
          0.1949577275545461,
          -1.4296148601852745,
          1.0772542209780749,
          0.527383812039452,
          -1.3811947100292028
        ],
        "act_eef_pose_l": [
          557.5213270301588,
          401.4991821146054,
          40.20336589856328,
          1.7050800349855337,
          -0.20240085374992062,
          0.6930864357468146
        ],
        "act_eef_pose_r": [
          470.5478644042035,
          -277.69634812687866,
          -37.71905665308009,
          1.5745934758559783,
          -0.13093041935249378,
          2.1513087540376907
        ],
        "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": [
          0.3525440196303959,
          -0.8462452709602017,
          -0.05514426403515477,
          -0.2321037805655313,
          -0.04914764733809259,
          -1.338001419482261,
          0.47947429100366556
        ],
        "joint_pos_r": [
          -0.8364002880072486,
          -0.5779633285533532,
          0.20392763969921535,
          -1.440958893912749,
          1.1221332549311451,
          0.5346855079253264,
          -1.4203190178978735
        ],
        "eef_pose_l": [
          557.521334526139,
          401.4991718218306,
          40.20336296707373,
          1.7050800252945408,
          -0.2024008553167537,
          0.6930864091807574
        ],
        "eef_pose_r": [
          466.4661571490339,
          -299.2594507464367,
          -37.6008077253681,
          1.5850369222851406,
          -0.11864262629769327,
          2.1050952495578428
        ],
        "joint_status_l": {
          "velocity": [
            -4.548259102676866e-06,
            -9.084108132384472e-05,
            6.369465399558294e-06,
            0.0001741205739591578,
            -3.819326688248026e-06,
            -0.0001084011937990681,
            2.780259134027574e-06
          ],
          "torque": [
            -40.1953125,
            4.716796875,
            -7.611083984375,
            1.776123046875,
            -6.61376953125,
            -2.222900390625,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.9803089758614334,
            -4.422719730941438,
            -0.9687219406979697,
            1.2251195096002476,
            -4.846792718421256,
            -0.7885598983436992,
            4.225300631237161
          ],
          "torque": [
            30.38818359375,
            6.357421875,
            8.746337890625,
            -3.55224609375,
            -1.6845703125,
            4.083251953125,
            0.82489013671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.6,
            -16.7,
            -8.1,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.6,
            -16.7,
            -8.1,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.1,
            -17.1,
            0.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.1,
            -17.1,
            0.1,
            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": -15,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525440196303959,
          -0.8462452709602017,
          -0.05514426403515477,
          -0.2321037805655313,
          -0.04914764733809259,
          -1.338001419482261,
          0.47947429100366556
        ],
        "act_joint_pos_r": [
          -0.8174582387633147,
          -0.625032735647783,
          0.1939648337356615,
          -1.4327068679826844,
          1.0739952584667964,
          0.5268480857927833,
          -1.3758531141175705
        ],
        "act_eef_pose_l": [
          557.521334526139,
          401.4991718218306,
          40.20336296707373,
          1.7050800252945408,
          -0.2024008553167537,
          0.6930864091807574
        ],
        "act_eef_pose_r": [
          470.0606644042035,
          -273.1643481268786,
          -37.615056653080046,
          1.5717851562872147,
          -0.13833375759924296,
          2.1603197253205293
        ],
        "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": [
          0.35254401116178935,
          -0.8462454401012669,
          -0.0551442521755627,
          -0.23210345636265975,
          -0.04914765444946748,
          -1.3380016213192851,
          0.47947429618035436
        ],
        "joint_pos_r": [
          -0.8324035572485483,
          -0.5876127564380711,
          0.20186676127470177,
          -1.4390125092014672,
          1.1120814739403868,
          0.5330492755206973,
          -1.4111765846470046
        ],
        "eef_pose_l": [
          557.5213463765235,
          401.49915554997847,
          40.203358332686975,
          1.7050800099740542,
          -0.20240085779376582,
          0.6930863671824825
        ],
        "eef_pose_r": [
          467.32455619931517,
          -293.99308995593486,
          -37.673586436161884,
          1.582387905965194,
          -0.12258669573482014,
          2.1162601851851
        ],
        "joint_status_l": {
          "velocity": [
            -3.6336764708266855e-06,
            -7.257438472407785e-05,
            5.0886672653405185e-06,
            0.00013910769647296206,
            -3.051320807134772e-06,
            -8.660343908672985e-05,
            2.2211934513904907e-06
          ],
          "torque": [
            -40.1513671875,
            4.53369140625,
            -7.60498046875,
            1.788330078125,
            -6.6119384765625,
            -2.2430419921875,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.6140467926399893,
            -4.041238564687966,
            -0.8533830050301283,
            0.6809891669288248,
            -4.113189959094932,
            -0.6697087386111633,
            3.8148223050100682
          ],
          "torque": [
            30.21240234375,
            7.65380859375,
            9.332275390625,
            -2.825927734375,
            -1.4410400390625,
            4.1326904296875,
            0.8038330078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.7,
            -16.7,
            -8.5,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.7,
            -16.7,
            -8.5,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.1,
            -17.5,
            0.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.1,
            -17.5,
            0.3,
            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": -7,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254401116178935,
          -0.8462454401012669,
          -0.0551442521755627,
          -0.23210345636265975,
          -0.04914765444946748,
          -1.3380016213192851,
          0.47947429618035436
        ],
        "act_joint_pos_r": [
          -0.819445628202614,
          -0.6361214141960442,
          0.1918733110047604,
          -1.4290941135749917,
          1.054511859413731,
          0.522319189350717,
          -1.3522884288755925
        ],
        "act_eef_pose_l": [
          557.5213463765235,
          401.49915554997847,
          40.203358332686975,
          1.7050800099740542,
          -0.20240085779376582,
          0.6930863671824825
        ],
        "act_eef_pose_r": [
          468.9822644042035,
          -266.9299481268787,
          -41.32785665308006,
          1.5775088585109027,
          -0.15153696182409285,
          2.1745755115578915
        ],
        "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": [
          0.35254400480142034,
          -0.8462455671351037,
          -0.05514424326838525,
          -0.2321032128692505,
          -0.049147659790484036,
          -1.3380017729095068,
          0.47947430006832004
        ],
        "joint_pos_r": [
          -0.8313554967119897,
          -0.5904755268575153,
          0.2012659485031599,
          -1.4385041932707734,
          1.1090459615068105,
          0.5325348812560746,
          -1.408279642650302
        ],
        "eef_pose_l": [
          557.5213552767781,
          401.49914332895594,
          40.20335485202233,
          1.7050799984675638,
          -0.20240085965413662,
          0.6930863356395677
        ],
        "eef_pose_r": [
          467.5263097488792,
          -292.4018110030121,
          -37.743825838519626,
          1.581711810283174,
          -0.12397736069560951,
          2.1196380237959356
        ],
        "joint_status_l": {
          "velocity": [
            -2.9467770445990027e-06,
            -5.885513498782302e-05,
            4.126720465347233e-06,
            0.0001128111839499013,
            -2.474508042915602e-06,
            -7.023217740709242e-05,
            1.8013053271204171e-06
          ],
          "torque": [
            -40.15869140625,
            4.38720703125,
            -7.611083984375,
            1.806640625,
            -6.61376953125,
            -2.2686767578125,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.286227863749545,
            -4.929610441472221,
            -1.0143749324378337,
            1.0162586341984081,
            -5.8895093242608,
            -1.1032621867999026,
            6.04687274469029
          ],
          "torque": [
            30.30029296875,
            7.41943359375,
            8.89892578125,
            -3.08837890625,
            -1.5618896484375,
            4.046630859375,
            0.7305908203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.6,
            -8.4,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.6,
            -8.4,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.1,
            -17.1,
            0.4,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.1,
            -17.1,
            0.4,
            1.0,
            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": 5,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254400480142034,
          -0.8462455671351037,
          -0.05514424326838525,
          -0.2321032128692505,
          -0.049147659790484036,
          -1.3380017729095068,
          0.47947430006832004
        ],
        "act_joint_pos_r": [
          -0.817607144885824,
          -0.6498311320292064,
          0.18939918943293824,
          -1.4292799920359505,
          1.0574624681201303,
          0.5159885046063838,
          -1.3536969803809173
        ],
        "act_eef_pose_l": [
          557.5213552767781,
          401.49914332895594,
          40.20335485202233,
          1.7050799984675638,
          -0.20240085965413662,
          0.6930863356395677
        ],
        "act_eef_pose_r": [
          469.5222644042035,
          -259.91874812687865,
          -42.962256653079976,
          1.578637346423076,
          -0.16021005576897956,
          2.1831354977200097
        ],
        "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": [
          0.35254400031576605,
          -0.8462456567257992,
          -0.05514423698659259,
          -0.23210304114536642,
          -0.04914766355723942,
          -1.3380018798186086,
          0.47947430281031045
        ],
        "joint_pos_r": [
          -0.8288280537572232,
          -0.6006426832862998,
          0.19919885003052196,
          -1.4366253781031963,
          1.0982927651609227,
          0.5300242146873944,
          -1.397122259304678
        ],
        "eef_pose_l": [
          557.5213615536846,
          401.499134710069,
          40.20335239728317,
          1.7050799903526053,
          -0.20240086096616716,
          0.6930863133939053
        ],
        "eef_pose_r": [
          467.9367988787745,
          -286.78531630840837,
          -38.65522990524636,
          1.5809852410434564,
          -0.13032817353589543,
          2.1312963791114417
        ],
        "joint_status_l": {
          "velocity": [
            -2.4623405536772225e-06,
            -4.9179625705164653e-05,
            3.448306862274819e-06,
            9.426555136471393e-05,
            -2.067710447306581e-06,
            -5.868633579098059e-05,
            1.505179092475828e-06
          ],
          "torque": [
            -40.1513671875,
            4.365234375,
            -7.611083984375,
            1.81884765625,
            -6.61376953125,
            -2.2760009765625,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.2118224173196523,
            -5.31219578939357,
            -1.0583321307013893,
            0.7932782987705167,
            -4.409542027915769,
            -1.515811982264914,
            4.6897918057524635
          ],
          "torque": [
            31.19384765625,
            5.22216796875,
            9.649658203125,
            -5.377197265625,
            -1.4208984375,
            3.8616943359375,
            0.7763671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.4,
            -8.7,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -16.4,
            -8.7,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.2,
            -17.2,
            2.4,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.2,
            -17.2,
            2.4,
            1.0,
            0.0,
            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": 24,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254400031576605,
          -0.8462456567257992,
          -0.05514423698659259,
          -0.23210304114536642,
          -0.04914766355723942,
          -1.3380018798186086,
          0.47947430281031045
        ],
        "act_joint_pos_r": [
          -0.8098210986395702,
          -0.6597037388871101,
          0.18770164837719847,
          -1.4265262823050124,
          1.052131387846135,
          0.511831329082877,
          -1.347390764090094
        ],
        "act_eef_pose_l": [
          557.5213615536846,
          401.499134710069,
          40.20335239728317,
          1.7050799903526053,
          -0.20240086096616716,
          0.6930863133939053
        ],
        "act_eef_pose_r": [
          471.6254644042035,
          -255.20674812687867,
          -41.498256653080034,
          1.575134132210961,
          -0.16223655950025798,
          2.191432832458302
        ],
        "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": [
          0.3525439965675325,
          -0.8462457315882023,
          -0.05514423173749737,
          -0.23210289765208791,
          -0.04914766670475779,
          -1.3380019691523524,
          0.47947430510153033
        ],
        "joint_pos_r": [
          -0.8261454983711739,
          -0.610652956177381,
          0.19722395513701285,
          -1.435038280489883,
          1.0901899448617123,
          0.5270712054268769,
          -1.3884585821982127
        ],
        "eef_pose_l": [
          557.5213667986948,
          401.4991275080849,
          40.203350346092776,
          1.7050799835717085,
          -0.2024008620625068,
          0.6930862948053265
        ],
        "eef_pose_r": [
          468.4637016642409,
          -281.38363009857477,
          -39.445573787732314,
          1.5803437882983542,
          -0.13631206917484726,
          2.1416747416437674
        ],
        "joint_status_l": {
          "velocity": [
            -2.057543024847064e-06,
            -4.109472406810255e-05,
            2.8814212682526374e-06,
            7.876873442391741e-05,
            -1.7277885233646373e-06,
            -4.9038575866688916e-05,
            1.2577348051934223e-06
          ],
          "torque": [
            -40.1806640625,
            4.4677734375,
            -7.611083984375,
            1.77001953125,
            -6.61376953125,
            -2.2686767578125,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.7629831746042157,
            -5.297328296303583,
            -1.028378799648566,
            0.9192686915859838,
            -4.110202933727436,
            -1.645858103162201,
            4.43519354663735
          ],
          "torque": [
            31.435546875,
            4.2919921875,
            9.613037109375,
            -5.46875,
            -1.402587890625,
            3.65478515625,
            0.8203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.7,
            -9.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -16.7,
            -9.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.7,
            -17.2,
            1.7,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.7,
            -17.2,
            1.7,
            1.0,
            0.0,
            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": 80,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439965675325,
          -0.8462457315882023,
          -0.05514423173749737,
          -0.23210289765208791,
          -0.04914766670475779,
          -1.3380019691523524,
          0.47947430510153033
        ],
        "act_joint_pos_r": [
          -0.8050289806312678,
          -0.6665676630617315,
          0.18639621466170808,
          -1.4171693009559312,
          1.0362921029129453,
          0.5160618968445105,
          -1.3311560106181088
        ],
        "act_eef_pose_l": [
          557.5213667986948,
          401.4991275080849,
          40.203350346092776,
          1.7050799835717085,
          -0.2024008620625068,
          0.6930862948053265
        ],
        "act_eef_pose_r": [
          473.3742644042035,
          -253.31234812687865,
          -40.76625665308006,
          1.569958424923042,
          -0.16207186187897418,
          2.1983035069136325
        ],
        "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": [
          0.35254399296601924,
          -0.8462458035202,
          -0.055144226693872075,
          -0.23210275977569325,
          -0.049147669729070094,
          -1.3380020549892273,
          0.47947430730306284
        ],
        "joint_pos_r": [
          -0.8228579322493698,
          -0.6195816796049048,
          0.19549401931693866,
          -1.4324597648333268,
          1.0819372017037234,
          0.5250989842416042,
          -1.3796612929267142
        ],
        "eef_pose_l": [
          557.5213718383925,
          401.49912058801306,
          40.20334837519499,
          1.7050799770562421,
          -0.2024008631159328,
          0.6930862769443759
        ],
        "eef_pose_r": [
          469.2638990913909,
          -276.8630782173214,
          -39.75689117170168,
          1.5788282041110733,
          -0.14074684530424175,
          2.150689283297892
        ],
        "joint_status_l": {
          "velocity": [
            -1.6685910431135653e-06,
            -3.3326297277369576e-05,
            2.336725812845941e-06,
            6.387852291567242e-05,
            -1.401172400328221e-06,
            -3.9768465853740054e-05,
            1.0199761035778465e-06
          ],
          "torque": [
            -40.17333984375,
            4.69482421875,
            -7.611083984375,
            1.67236328125,
            -6.61376953125,
            -2.2650146484375,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.925469986053585,
            -5.074336553779979,
            -0.9825339244760034,
            1.6513213956379502,
            -4.9295252808274626,
            -0.9759766539936265,
            5.238415990509893
          ],
          "torque": [
            30.6298828125,
            7.56591796875,
            9.759521484375,
            -3.3447265625,
            -1.292724609375,
            3.5357666015625,
            0.70587158203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.7,
            -9.1,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -16.7,
            -9.1,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.8,
            -17.0,
            0.9,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.8,
            -17.0,
            0.9,
            1.1,
            0.1,
            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": 62,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254399296601924,
          -0.8462458035202,
          -0.055144226693872075,
          -0.23210275977569325,
          -0.049147669729070094,
          -1.3380020549892273,
          0.47947430730306284
        ],
        "act_joint_pos_r": [
          -0.7946240047838308,
          -0.679629640571953,
          0.1838606436906752,
          -1.397719900575043,
          1.0141704207705349,
          0.5218120526184423,
          -1.3173775884433179
        ],
        "act_eef_pose_l": [
          557.5213718383925,
          401.49912058801306,
          40.20334837519499,
          1.7050799770562421,
          -0.2024008631159328,
          0.6930862769443759
        ],
        "act_eef_pose_r": [
          477.7422644042035,
          -250.85714812687866,
          -39.470256653080014,
          1.5622031442911934,
          -0.15010904604957057,
          2.2058334960111825
        ],
        "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": [
          0.3525439914292446,
          -0.8462458342137624,
          -0.05514422454174464,
          -0.23210270094349303,
          -0.049147671019551656,
          -1.338002091616035,
          0.47947430824246223
        ],
        "joint_pos_r": [
          -0.8183943707976068,
          -0.6295352893191593,
          0.1935659139623391,
          -1.427305235449368,
          1.071078952141169,
          0.524225795716752,
          -1.3693487708162297
        ],
        "eef_pose_l": [
          557.5213739888437,
          401.4991176352008,
          40.20334753420832,
          1.705079974276077,
          -0.2024008635654328,
          0.6930862693230642
        ],
        "eef_pose_r": [
          470.59597035763636,
          -272.4302265581211,
          -39.83072995842031,
          1.5761785570751803,
          -0.14322008299148073,
          2.1600123746396727
        ],
        "joint_status_l": {
          "velocity": [
            -1.5026242472515605e-06,
            -3.001149107006995e-05,
            2.104302898597865e-06,
            5.7524832675071025e-05,
            -1.2618045497347907e-06,
            -3.581288865461829e-05,
            9.185239235875997e-07
          ],
          "torque": [
            -40.14404296875,
            4.775390625,
            -7.611083984375,
            1.654052734375,
            -6.6119384765625,
            -2.259521484375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.567123816217709,
            -5.4100303749846645,
            -1.0481382761537983,
            3.195121931343081,
            -6.145940123214011,
            -0.2606765663730748,
            5.612722157882999
          ],
          "torque": [
            30.87890625,
            6.9873046875,
            9.478759765625,
            -3.6865234375,
            -1.7138671875,
            3.5137939453125,
            0.63629150390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.7,
            -16.3,
            -8.1,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.7,
            -16.3,
            -8.1,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.9,
            -16.9,
            0.1,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.9,
            -16.9,
            0.1,
            1.1,
            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": 49,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439914292446,
          -0.8462458342137624,
          -0.05514422454174464,
          -0.23210270094349303,
          -0.049147671019551656,
          -1.338002091616035,
          0.47947430824246223
        ],
        "act_joint_pos_r": [
          -0.7823520328177462,
          -0.6908432730284108,
          0.1816213800228247,
          -1.3731812247267987,
          1.016412547366059,
          0.5246310732932558,
          -1.319902303663514
        ],
        "act_eef_pose_l": [
          557.5213739888437,
          401.4991176352008,
          40.20334753420832,
          1.705079974276077,
          -0.2024008635654328,
          0.6930862693230642
        ],
        "act_eef_pose_r": [
          484.9182644042035,
          -253.05874812687867,
          -38.28065665308009,
          1.557557513195812,
          -0.13874347887249225,
          2.195132914501459
        ],
        "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": [
          0.35254398846631374,
          -0.8462458933915382,
          -0.055144220392401716,
          -0.2321025875138844,
          -0.049147673507624834,
          -1.3380021622332217,
          0.4794743100536424
        ],
        "joint_pos_r": [
          -0.8114695953489376,
          -0.6419051631219659,
          0.1911592466291805,
          -1.4172801245388753,
          1.059300502182466,
          0.5241396974363424,
          -1.3586646354762801
        ],
        "eef_pose_l": [
          557.5213781349535,
          401.499111942121,
          40.20334591277029,
          1.7050799689158656,
          -0.20240086443207805,
          0.6930862546290277
        ],
        "eef_pose_r": [
          473.2463399093213,
          -268.245528708192,
          -39.65184497861617,
          1.5723349645229736,
          -0.1431617978678604,
          2.168088119895318
        ],
        "joint_status_l": {
          "velocity": [
            -1.1826375434509373e-06,
            -2.362047979431736e-05,
            1.6561870763709408e-06,
            4.527479613436469e-05,
            -9.931005462426867e-07,
            -2.8186455836021196e-05,
            7.229226106630904e-07
          ],
          "torque": [
            -40.14404296875,
            4.70947265625,
            -7.60498046875,
            1.6357421875,
            -6.6119384765625,
            -2.2467041015625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.1446040082316884,
            -5.285159992434174,
            -1.0300592135139564,
            4.762540716074071,
            -4.6317625136396146,
            0.053067027418141066,
            4.186208370164479
          ],
          "torque": [
            30.8642578125,
            6.4599609375,
            9.50927734375,
            -3.01513671875,
            -1.60400390625,
            4.1546630859375,
            0.79833984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.2,
            -8.0,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.2,
            -8.0,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.7,
            -17.1,
            0.6,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.7,
            -17.1,
            0.6,
            1.1,
            0.0,
            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": -11,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254398846631374,
          -0.8462458933915382,
          -0.055144220392401716,
          -0.2321025875138844,
          -0.049147673507624834,
          -1.3380021622332217,
          0.4794743100536424
        ],
        "act_joint_pos_r": [
          -0.7704618846304565,
          -0.7004816627578191,
          0.17983669330810884,
          -1.3532975436219388,
          1.0125639121510108,
          0.5225265012337863,
          -1.3126057280078371
        ],
        "act_eef_pose_l": [
          557.5213781349535,
          401.499111942121,
          40.20334591277029,
          1.7050799689158656,
          -0.20240086443207805,
          0.6930862546290277
        ],
        "act_eef_pose_r": [
          490.9598644042035,
          -254.16434812687865,
          -37.19105665308007,
          1.5565572427754126,
          -0.13317312966103115,
          2.1887813132800864
        ],
        "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": [
          0.35254398639623113,
          -0.8462459347367062,
          -0.05514421749342018,
          -0.2321025082651098,
          -0.049147675245943025,
          -1.338002211570653,
          0.47947431131904217
        ],
        "joint_pos_r": [
          -0.8091935377009248,
          -0.645576866580579,
          0.1904450378993967,
          -1.413805140782922,
          1.0561510334202004,
          0.5241438626653544,
          -1.3557614115169563
        ],
        "eef_pose_l": [
          557.5213810316751,
          401.49910796459113,
          40.203344779936344,
          1.705079965170898,
          -0.20240086503756946,
          0.6930862443628867
        ],
        "eef_pose_r": [
          474.1861916552403,
          -267.1921191629834,
          -39.563921752824626,
          1.571204700214401,
          -0.14281325685374982,
          2.169928778427186
        ],
        "joint_status_l": {
          "velocity": [
            -9.590750416066385e-07,
            -1.9155333319531564e-05,
            1.3431063483615446e-06,
            3.671618098444185e-05,
            -8.053677169606033e-07,
            -2.285817046754346e-05,
            5.862634822051405e-07
          ],
          "torque": [
            -40.13671875,
            4.6875,
            -7.6171875,
            1.629638671875,
            -6.6119384765625,
            -2.252197265625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            4.182895163712175,
            -5.929543104616464,
            -1.1456674262046995,
            6.534627764843037,
            -4.707270263557106,
            -0.17466988299652542,
            4.660676359684146
          ],
          "torque": [
            31.32568359375,
            7.31689453125,
            9.661865234375,
            -3.363037109375,
            -1.2890625,
            4.24072265625,
            0.6573486328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -16.1,
            -8.2,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.0,
            -16.1,
            -8.2,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.8,
            -16.8,
            0.0,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.8,
            -16.8,
            0.0,
            1.0,
            0.1,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 179,
          "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": [
          0.35254398639623113,
          -0.8462459347367062,
          -0.05514421749342018,
          -0.2321025082651098,
          -0.049147675245943025,
          -1.338002211570653,
          0.47947431131904217
        ],
        "act_joint_pos_r": [
          -0.7646103786599006,
          -0.7070199501137657,
          0.1786933154115765,
          -1.3442746095438889,
          1.0107638909094714,
          0.5207238122506669,
          -1.3107219088233089
        ],
        "act_eef_pose_l": [
          557.5213810316751,
          401.49910796459113,
          40.203344779936344,
          1.705079965170898,
          -0.20240086503756946,
          0.6930862443628867
        ],
        "act_eef_pose_r": [
          493.8094644042035,
          -253.48914812687866,
          -36.76465665308001,
          1.5559828360414107,
          -0.13016982824278256,
          2.187498269851063
        ],
        "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": [
          0.35254398482606875,
          -0.8462459660971116,
          -0.055144215294535955,
          -0.23210244815473077,
          -0.049147676564461375,
          -1.338002248993209,
          0.4794743122788509
        ],
        "joint_pos_r": [
          -0.8018428942078202,
          -0.6558460425512207,
          0.18847119339922538,
          -1.4023319464788833,
          1.048289867573877,
          0.5237030740761899,
          -1.3479693304354292
        ],
        "eef_pose_l": [
          557.5213832288448,
          401.4991049476254,
          40.20334392067929,
          1.7050799623303312,
          -0.20240086549683592,
          0.6930862365759948
        ],
        "eef_pose_r": [
          477.4099788648269,
          -264.90234278453016,
          -39.20365403281909,
          1.5684348714251353,
          -0.1409703727111137,
          2.1731373722185086
        ],
        "joint_status_l": {
          "velocity": [
            -7.89502685449861e-07,
            -1.5768509165070554e-05,
            1.1056338622417172e-06,
            3.0224451608162894e-05,
            -6.629719551121127e-07,
            -1.8816654900888352e-05,
            4.82606843377198e-07
          ],
          "torque": [
            -40.1220703125,
            4.70947265625,
            -7.611083984375,
            1.629638671875,
            -6.61376953125,
            -2.2540283203125,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            4.020993086323976,
            -5.5266190178393515,
            -1.0559796782103614,
            6.27000746499462,
            -4.052685952173896,
            -0.3217507876245307,
            4.022602893780203
          ],
          "torque": [
            31.46484375,
            6.064453125,
            9.70458984375,
            -2.667236328125,
            -1.3055419921875,
            3.45703125,
            0.99151611328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.6,
            -16.7,
            -9.5,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.6,
            -16.7,
            -9.5,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.8,
            -17.3,
            -0.2,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.8,
            -17.3,
            -0.2,
            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": 26,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254398482606875,
          -0.8462459660971116,
          -0.055144215294535955,
          -0.23210244815473077,
          -0.049147676564461375,
          -1.338002248993209,
          0.4794743122788509
        ],
        "act_joint_pos_r": [
          -0.7520187225021266,
          -0.7230066643295542,
          0.17593436683317354,
          -1.3178271426759791,
          1.000820151097452,
          0.5207883819387301,
          -1.3045438761403032
        ],
        "act_eef_pose_l": [
          557.5213832288448,
          401.4991049476254,
          40.20334392067929,
          1.7050799623303312,
          -0.20240086549683592,
          0.6930862365759948
        ],
        "act_eef_pose_r": [
          500.6590644042035,
          -252.73554812687865,
          -36.35825665308016,
          1.553783505840319,
          -0.11872109942720203,
          2.1841657491813975
        ],
        "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": [
          0.3525439836242692,
          -0.8462459901003135,
          -0.055144213611513664,
          -0.23210240214634728,
          -0.04914767757365312,
          -1.3380022776363703,
          0.4794743130134868
        ],
        "joint_pos_r": [
          -0.7926617185671554,
          -0.6683337576480709,
          0.18611455393946755,
          -1.387337909455916,
          1.0393095742956895,
          0.5230750563204514,
          -1.339422912876144
        ],
        "eef_pose_l": [
          557.5213849105546,
          401.49910263844447,
          40.20334326300548,
          1.7050799601561668,
          -0.2024008658483582,
          0.693086230615921
        ],
        "eef_pose_r": [
          481.59780238286265,
          -262.480656673298,
          -38.76981810880642,
          1.5654254790835274,
          -0.13764888707328143,
          2.1758652251698556
        ],
        "joint_status_l": {
          "velocity": [
            -6.597118407114522e-07,
            -1.317623965491066e-05,
            9.2387281158679e-07,
            2.5255692648329386e-05,
            -5.539824154965345e-07,
            -1.5723284008117844e-05,
            4.0326852968064486e-07
          ],
          "torque": [
            -40.1806640625,
            4.7314453125,
            -7.60498046875,
            1.6357421875,
            -6.61376953125,
            -2.259521484375,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            4.389314119123355,
            -5.9044997776878105,
            -1.0994277815907783,
            7.506941406832723,
            -4.156735109060783,
            -0.2469535497202635,
            3.766824870909957
          ],
          "torque": [
            30.90087890625,
            3.11279296875,
            9.490966796875,
            -3.22265625,
            -0.926513671875,
            3.680419921875,
            0.5712890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -17.1,
            -10.3,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -17.1,
            -10.3,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.3,
            -17.2,
            -0.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.3,
            -17.2,
            -0.6,
            1.0,
            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": 76,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439836242692,
          -0.8462459901003135,
          -0.055144213611513664,
          -0.23210240214634728,
          -0.04914767757365312,
          -1.3380022776363703,
          0.4794743130134868
        ],
        "act_joint_pos_r": [
          -0.7394045782864834,
          -0.7371450626476072,
          0.17348250179590607,
          -1.2873215259199393,
          0.9985233131309422,
          0.5201239708794527,
          -1.2996088476013448
        ],
        "act_eef_pose_l": [
          557.5213849105546,
          401.49910263844447,
          40.20334326300548,
          1.7050799601561668,
          -0.2024008658483582,
          0.693086230615921
        ],
        "act_eef_pose_r": [
          508.6110644042035,
          -255.00274812687866,
          -36.3222566530801,
          1.5538548867719468,
          -0.11004864032115937,
          2.1719767577858153
        ],
        "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": [
          0.352543982544213,
          -0.8462460116719677,
          -0.05514421209898315,
          -0.2321023607986576,
          -0.04914767848061277,
          -1.338002303377952,
          0.4794743136737034
        ],
        "joint_pos_r": [
          -0.7850706977058765,
          -0.6783411317696246,
          0.18426419489999904,
          -1.373711155265144,
          1.032816486590919,
          0.5226512325173,
          -1.3333331377148316
        ],
        "eef_pose_l": [
          557.5213864219053,
          401.49910056318583,
          40.20334267195477,
          1.705079958202247,
          -0.20240086616427078,
          0.6930862252596083
        ],
        "eef_pose_r": [
          485.31788587845637,
          -261.1113546189659,
          -38.49869838848849,
          1.563428857541891,
          -0.13397844754348964,
          2.1763621941223095
        ],
        "joint_status_l": {
          "velocity": [
            -5.430691452090741e-07,
            -1.0846569864497724e-05,
            7.6052431019491e-07,
            2.079027394685795e-05,
            -4.5603371079394606e-07,
            -1.2943274896315415e-05,
            3.319673425039582e-07
          ],
          "torque": [
            -40.107421875,
            4.69482421875,
            -7.611083984375,
            1.629638671875,
            -6.6119384765625,
            -2.2540283203125,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            4.931795441763143,
            -6.350637232788614,
            -1.1643885134386966,
            9.329804801398112,
            -3.7035535032066136,
            -0.2729362070645891,
            3.642115913789823
          ],
          "torque": [
            34.00634765625,
            5.47119140625,
            9.576416015625,
            -4.0771484375,
            -1.46484375,
            3.812255859375,
            0.802001953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -16.1,
            -8.2,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.0,
            -16.1,
            -8.2,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -5.0,
            -16.4,
            -0.9,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -5.0,
            -16.4,
            -0.9,
            1.1,
            0.0,
            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": 62,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.352543982544213,
          -0.8462460116719677,
          -0.05514421209898315,
          -0.2321023607986576,
          -0.04914767848061277,
          -1.338002303377952,
          0.4794743136737034
        ],
        "act_joint_pos_r": [
          -0.7317427126326659,
          -0.7474207510824301,
          0.17186995027304844,
          -1.269107623209907,
          1.004726129376456,
          0.5180191854920483,
          -1.303325138230477
        ],
        "act_eef_pose_l": [
          557.5213864219053,
          401.49910056318583,
          40.20334267195477,
          1.705079958202247,
          -0.20240086616427078,
          0.6930862252596083
        ],
        "act_eef_pose_r": [
          513.8334644042035,
          -255.99634812687867,
          -36.44145665307997,
          1.5542198034124095,
          -0.10581941323210041,
          2.1620876189038003
        ],
        "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": [
          0.3525439817175398,
          -0.8462460281828759,
          -0.05514421094129486,
          -0.23210232915120518,
          -0.04914767917479816,
          -1.3380023230805154,
          0.4794743141790322
        ],
        "joint_pos_r": [
          -0.7761319573259036,
          -0.689897698807115,
          0.18217593605108162,
          -1.356381434315195,
          1.0274531085186502,
          0.5219668814874892,
          -1.3277897564300172
        ],
        "eef_pose_l": [
          557.5213875786906,
          401.49909897478614,
          40.203342219565656,
          1.70507995670672,
          -0.2024008664060702,
          0.6930862211598956
        ],
        "eef_pose_r": [
          490.04567370140404,
          -260.21985648742157,
          -38.30678563732863,
          1.5617463045734454,
          -0.12931018715282017,
          2.1744849216919113
        ],
        "joint_status_l": {
          "velocity": [
            -4.5379122681765693e-07,
            -9.063444217360939e-06,
            6.354976544997726e-07,
            1.7372449701014148e-05,
            -3.8106390265468804e-07,
            -1.0815460527169307e-05,
            2.7739366359469386e-07
          ],
          "torque": [
            -40.15869140625,
            4.716796875,
            -7.611083984375,
            1.629638671875,
            -6.6119384765625,
            -2.2650146484375,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            4.793897038434025,
            -6.212306423550196,
            -1.1130136374450927,
            9.425293615196395,
            -2.4544413574787427,
            -0.42633859332319446,
            2.6421008409514
          ],
          "torque": [
            32.373046875,
            4.3359375,
            8.8134765625,
            -3.436279296875,
            -1.1553955078125,
            3.8671875,
            0.69671630859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.0,
            -17.4,
            -8.6,
            1.5,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -1.0,
            -17.4,
            -8.6,
            1.5,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.4,
            -16.3,
            -0.1,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.4,
            -16.3,
            -0.1,
            1.0,
            0.0,
            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": 62,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439817175398,
          -0.8462460281828759,
          -0.05514421094129486,
          -0.23210232915120518,
          -0.04914767917479816,
          -1.3380023230805154,
          0.4794743141790322
        ],
        "act_joint_pos_r": [
          -0.724753665204577,
          -0.758304708169486,
          0.17034866580729233,
          -1.2550314533782922,
          1.0109520352280779,
          0.5156187913072411,
          -1.3053773513775127
        ],
        "act_eef_pose_l": [
          557.5213875786906,
          401.49909897478614,
          40.203342219565656,
          1.70507995670672,
          -0.2024008664060702,
          0.6930862211598956
        ],
        "act_eef_pose_r": [
          518.2358644042035,
          -255.22514812687865,
          -36.215056653079955,
          1.5533718115669373,
          -0.10567284313242606,
          2.1561110296498054
        ],
        "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": [
          0.35254398118800984,
          -0.8462460387590285,
          -0.05514421019973125,
          -0.23210230887925593,
          -0.04914767961946242,
          -1.3380023357011004,
          0.47947431450272315
        ],
        "joint_pos_r": [
          -0.7674949018403509,
          -0.7012964344913789,
          0.18018208508907504,
          -1.3393622960568865,
          1.0241373363349309,
          0.5209980283903896,
          -1.323695783784215
        ],
        "eef_pose_l": [
          557.5213883196755,
          401.49909795732805,
          40.203341929785296,
          1.7050799557487522,
          -0.20240086656095593,
          0.6930862185338021
        ],
        "eef_pose_r": [
          494.772022575925,
          -259.4586519065409,
          -38.130655216476725,
          1.5603318128659502,
          -0.12516807446491046,
          2.1716215094440505
        ],
        "joint_status_l": {
          "velocity": [
            -3.966036388192151e-07,
            -7.921253875053935e-06,
            5.554111615069246e-07,
            1.5183143853292336e-05,
            -3.330415387914343e-07,
            -9.45247791150905e-06,
            2.4243584917371663e-07
          ],
          "torque": [
            -40.17333984375,
            4.69482421875,
            -7.60498046875,
            1.629638671875,
            -6.6119384765625,
            -2.2576904296875,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            4.615917417456927,
            -6.156711974722562,
            -1.0619779610667734,
            9.107462399043698,
            -1.4239705217748977,
            -0.5809404710572785,
            1.9783323521309626
          ],
          "torque": [
            32.83447265625,
            4.81201171875,
            9.326171875,
            -2.81982421875,
            -1.1993408203125,
            4.0814208984375,
            0.655517578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.2,
            -9.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.2,
            -9.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.5,
            -17.1,
            -0.3,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.5,
            -17.1,
            -0.3,
            1.0,
            0.0,
            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": 97,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254398118800984,
          -0.8462460387590285,
          -0.05514421019973125,
          -0.23210230887925593,
          -0.04914767961946242,
          -1.3380023357011004,
          0.47947431450272315
        ],
        "act_joint_pos_r": [
          -0.7216614576953311,
          -0.7651236349619067,
          0.16951643226690222,
          -1.2486359980737975,
          1.01441057931219,
          0.5135095671342815,
          -1.3058244305106823
        ],
        "act_eef_pose_l": [
          557.5213883196755,
          401.49909795732805,
          40.203341929785296,
          1.7050799557487522,
          -0.20240086656095593,
          0.6930862185338021
        ],
        "act_eef_pose_r": [
          520.2798644042035,
          -253.87794812687866,
          -36.416656653080054,
          1.5534533882069754,
          -0.1077258297012613,
          2.1543812235952084
        ],
        "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": [
          0.35254398044955565,
          -0.846246053507964,
          -0.05514420916558641,
          -0.2321022806090824,
          -0.04914768023956735,
          -1.3380023533010916,
          0.4794743149541255
        ],
        "joint_pos_r": [
          -0.7584309371817161,
          -0.7137949710125459,
          0.17807841194103569,
          -1.3214339064530585,
          1.0220109720347312,
          0.5195961795210914,
          -1.3200801028557332
        ],
        "eef_pose_l": [
          557.5213893530135,
          401.4990965384355,
          40.20334152567321,
          1.7050799544128217,
          -0.20240086677695143,
          0.6930862148715928
        ],
        "eef_pose_r": [
          499.8267678124017,
          -258.4781983867034,
          -37.951246318162305,
          1.558969097237977,
          -0.12158886091999292,
          2.168229744175126
        ],
        "joint_status_l": {
          "velocity": [
            -3.168532103359212e-07,
            -6.328415125267384e-06,
            4.4372683305482497e-07,
            1.2130055182524302e-05,
            -2.6607221981223006e-07,
            -7.551735237143475e-06,
            1.93685956162426e-07
          ],
          "torque": [
            -40.14404296875,
            4.6728515625,
            -7.611083984375,
            1.629638671875,
            -6.6119384765625,
            -2.259521484375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.9709866665385007,
            -5.543332214686281,
            -0.9246665332249826,
            7.861942229368424,
            -0.8208182052955593,
            -0.6573347507239369,
            1.5395672061586652
          ],
          "torque": [
            33.53759765625,
            6.26220703125,
            9.28955078125,
            -2.215576171875,
            -1.00341796875,
            3.9202880859375,
            0.5474853515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.8,
            -9.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -16.8,
            -9.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.3,
            -17.1,
            0.0,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.3,
            -17.1,
            0.0,
            1.0,
            0.0,
            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": 108,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254398044955565,
          -0.846246053507964,
          -0.05514420916558641,
          -0.2321022806090824,
          -0.04914768023956735,
          -1.3380023533010916,
          0.4794743149541255
        ],
        "act_joint_pos_r": [
          -0.7214706474614739,
          -0.7744335182541497,
          0.16856530177219467,
          -1.250769151545369,
          1.0178375234333057,
          0.5099577670874459,
          -1.3105626435224165
        ],
        "act_eef_pose_l": [
          557.5213893530135,
          401.4990965384355,
          40.20334152567321,
          1.7050799544128217,
          -0.20240086677695143,
          0.6930862148715928
        ],
        "act_eef_pose_r": [
          520.2598644042034,
          -248.19154812687867,
          -37.13505665308003,
          1.5531107412316256,
          -0.11185165170640987,
          2.1613653500753176
        ],
        "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": [
          0.35254397993081554,
          -0.8462460638686128,
          -0.05514420843913322,
          -0.2321022607502029,
          -0.04914768067517094,
          -1.3380023656645144,
          0.47947431527122086
        ],
        "joint_pos_r": [
          -0.755776958894479,
          -0.7176341575702758,
          0.1774469490060813,
          -1.3162167383807295,
          1.0215138783548476,
          0.5191045614411135,
          -1.3191226310338084
        ],
        "eef_pose_l": [
          557.5213900788999,
          401.4990955417093,
          40.203341241797546,
          1.7050799534743737,
          -0.20240086692868123,
          0.6930862122990095
        ],
        "eef_pose_r": [
          501.3093445659833,
          -258.0859792601616,
          -37.901079153049125,
          1.5585712121066686,
          -0.1206625806471806,
          2.167328939903357
        ],
        "joint_status_l": {
          "velocity": [
            -2.6083091242412593e-07,
            -5.209498610270202e-06,
            3.6527220137472227e-07,
            9.985359428199558e-06,
            -2.1902840652288091e-07,
            -6.216524184310401e-06,
            1.5944046083404828e-07
          ],
          "torque": [
            -40.12939453125,
            4.6728515625,
            -7.611083984375,
            1.6357421875,
            -6.6119384765625,
            -2.2540283203125,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.704972362445602,
            -6.1341500367735335,
            -0.9591896114744536,
            7.06813091484193,
            -0.3970346216162213,
            -0.9878246558656656,
            0.924451385994729
          ],
          "torque": [
            34.1162109375,
            6.357421875,
            9.173583984375,
            -2.94189453125,
            -1.14990234375,
            3.9385986328125,
            0.6280517578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -16.3,
            -8.5,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -16.3,
            -8.5,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.3,
            -16.9,
            -0.1,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.3,
            -16.9,
            -0.1,
            1.0,
            0.0,
            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": 85,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397993081554,
          -0.8462460638686128,
          -0.05514420843913322,
          -0.2321022607502029,
          -0.04914768067517094,
          -1.3380023656645144,
          0.47947431527122086
        ],
        "act_joint_pos_r": [
          -0.7178788934435413,
          -0.7846537186878237,
          0.16743647636876874,
          -1.2540482835606126,
          1.0126032560742315,
          0.5030359040129986,
          -1.3084016256362805
        ],
        "act_eef_pose_l": [
          557.5213900788999,
          401.4990955417093,
          40.203341241797546,
          1.7050799534743737,
          -0.20240086692868123,
          0.6930862122990095
        ],
        "act_eef_pose_r": [
          520.4494644042035,
          -240.95394812687866,
          -36.732656653080085,
          1.5532216544963011,
          -0.11423174397489645,
          2.1736951369095223
        ],
        "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": [
          0.35254397947425864,
          -0.8462460729872924,
          -0.05514420779976263,
          -0.23210224327188014,
          -0.049147681058557116,
          -1.3380023765458882,
          0.479474315550305
        ],
        "joint_pos_r": [
          -0.748570024538745,
          -0.7299333761179528,
          0.17556404089927172,
          -1.3033379008880774,
          1.0203250723184532,
          0.5166707964528052,
          -1.3172157528426556
        ],
        "eef_pose_l": [
          557.5213907177716,
          401.49909466446445,
          40.20334099195128,
          1.7050799526484213,
          -0.20240086706222304,
          0.693086210034811
        ],
        "eef_pose_r": [
          505.16327387025524,
          -255.5579998903217,
          -37.833612342146864,
          1.5574596963207656,
          -0.11917594664994571,
          2.1671495991074896
        ],
        "joint_status_l": {
          "velocity": [
            -2.1152413154368332e-07,
            -4.224710359324035e-06,
            2.9622221342506805e-07,
            8.097756243330423e-06,
            -1.7762391557596402e-07,
            -5.041371764491487e-06,
            1.2930057025073438e-07
          ],
          "torque": [
            -40.166015625,
            4.73876953125,
            -7.611083984375,
            1.6357421875,
            -6.61376953125,
            -2.252197265625,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.314544401020747,
            -5.909622702541029,
            -0.877751081409972,
            5.3231216742855025,
            -0.8339315588798968,
            -1.4725249536970964,
            0.9518976635671805
          ],
          "torque": [
            33.74267578125,
            3.90380859375,
            8.935546875,
            -3.82080078125,
            -1.102294921875,
            3.555908203125,
            0.670166015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -16.5,
            -8.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.0,
            -16.5,
            -8.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.5,
            -16.8,
            -0.9,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.5,
            -16.8,
            -0.9,
            1.1,
            0.0,
            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": 104,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397947425864,
          -0.8462460729872924,
          -0.05514420779976263,
          -0.23210224327188014,
          -0.049147681058557116,
          -1.3380023765458882,
          0.479474315550305
        ],
        "act_joint_pos_r": [
          -0.7121170144320045,
          -0.7960536416532557,
          0.16606250796591,
          -1.2452081069279255,
          0.9957253968165789,
          0.5046872984573211,
          -1.2888978335698071
        ],
        "act_eef_pose_l": [
          557.5213907177716,
          401.49909466446445,
          40.20334099195128,
          1.7050799526484213,
          -0.20240086706222304,
          0.693086210034811
        ],
        "act_eef_pose_r": [
          522.3142644042035,
          -236.03714812687866,
          -35.67985665307992,
          1.5487062847075583,
          -0.11811955440936081,
          2.184603471770722
        ],
        "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": [
          0.35254397912795915,
          -0.8462460799038319,
          -0.05514420731479857,
          -0.23210223001453198,
          -0.04914768134935643,
          -1.3380023847994351,
          0.47947431576199073
        ],
        "joint_pos_r": [
          -0.7423528212117722,
          -0.7410995042216936,
          0.1739285643162481,
          -1.2933829434077628,
          1.0176484395664862,
          0.5142123646396198,
          -1.3141432984699093
        ],
        "eef_pose_l": [
          557.5213912023573,
          401.49909399907216,
          40.20334080244223,
          1.7050799520219342,
          -0.20240086716351427,
          0.6930862083174121
        ],
        "eef_pose_r": [
          508.2158073473763,
          -252.514119160587,
          -37.64718858620694,
          1.5562911483487665,
          -0.1186231189032349,
          2.1691453221437293
        ],
        "joint_status_l": {
          "velocity": [
            -1.7412471464695045e-07,
            -3.477746091107292e-06,
            2.4384760877183e-07,
            6.666004859212649e-06,
            -1.462184817668799e-07,
            -4.150013666048835e-06,
            1.0643885772765316e-07
          ],
          "torque": [
            -40.166015625,
            4.70947265625,
            -7.611083984375,
            1.6357421875,
            -6.6119384765625,
            -2.255859375,
            0.3131103515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.265370825251246,
            -5.934871802920405,
            -0.8495090309068587,
            5.202728893536346,
            -2.367618787806336,
            -1.0286768084877274,
            2.726429797462515
          ],
          "torque": [
            35.0830078125,
            1.95556640625,
            8.905029296875,
            -3.4912109375,
            -1.322021484375,
            3.9459228515625,
            0.97869873046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -17.0,
            -9.3,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -17.0,
            -9.3,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.9,
            -17.4,
            0.0,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.9,
            -17.4,
            0.0,
            1.1,
            0.0,
            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": 110,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397912795915,
          -0.8462460799038319,
          -0.05514420731479857,
          -0.23210223001453198,
          -0.04914768134935643,
          -1.3380023847994351,
          0.47947431576199073
        ],
        "act_joint_pos_r": [
          -0.7105609803151474,
          -0.803797935405646,
          0.16529297933958526,
          -1.2469017304277146,
          0.9767775380525033,
          0.5072295897854245,
          -1.2711491806182962
        ],
        "act_eef_pose_l": [
          557.5213912023573,
          401.49909399907216,
          40.20334080244223,
          1.7050799520219342,
          -0.20240086716351427,
          0.6930862083174121
        ],
        "act_eef_pose_r": [
          521.2110644042035,
          -229.46754812687865,
          -34.707056653080144,
          1.5434644917780744,
          -0.12287547223012261,
          2.2023588969172416
        ],
        "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": [
          0.3525439788629022,
          -0.8462460851977399,
          -0.05514420694360788,
          -0.23210221986737983,
          -0.04914768157193373,
          -1.3380023911166863,
          0.4794743159240148
        ],
        "joint_pos_r": [
          -0.736916455572796,
          -0.7512658769648924,
          0.1724930622804882,
          -1.2849636434108271,
          1.0126712052983111,
          0.5126759848645619,
          -1.3086483176262371
        ],
        "eef_pose_l": [
          557.5213915732581,
          401.49909348978196,
          40.20334065739232,
          1.7050799515424218,
          -0.20240086724104264,
          0.6930862070029168
        ],
        "eef_pose_r": [
          510.677248598931,
          -249.27687184036853,
          -37.32268232784486,
          1.5545865236025305,
          -0.1189278790248096,
          2.1728909281600344
        ],
        "joint_status_l": {
          "velocity": [
            -1.4549961235843512e-07,
            -2.9060203132758033e-06,
            2.0376023091017714e-07,
            5.570144789857068e-06,
            -1.2218087652726695e-07,
            -3.4677718474540598e-06,
            8.894085468114099e-08
          ],
          "torque": [
            -40.166015625,
            4.74609375,
            -7.60498046875,
            1.6357421875,
            -6.61376953125,
            -2.2540283203125,
            0.3167724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.846307380478308,
            -5.673294986709543,
            -0.7775860239438437,
            4.110565367531294,
            -3.876401734189905,
            -0.5881933207123602,
            4.049787354764689
          ],
          "torque": [
            35.244140625,
            3.33984375,
            8.50830078125,
            -3.35693359375,
            -1.9976806640625,
            3.746337890625,
            0.54840087890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.9,
            -17.1,
            -8.9,
            1.5,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.9,
            -17.1,
            -8.9,
            1.5,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.9,
            -17.0,
            0.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.9,
            -17.0,
            0.0,
            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": 154,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439788629022,
          -0.8462460851977399,
          -0.05514420694360788,
          -0.23210221986737983,
          -0.04914768157193373,
          -1.3380023911166863,
          0.4794743159240148
        ],
        "act_joint_pos_r": [
          -0.7138566645005202,
          -0.8085997898399828,
          0.16495733713379354,
          -1.254832863094852,
          0.9636528063974481,
          0.5016337966355661,
          -1.2624987780075256
        ],
        "act_eef_pose_l": [
          557.5213915732581,
          401.49909348978196,
          40.20334065739232,
          1.7050799515424218,
          -0.20240086724104264,
          0.6930862070029168
        ],
        "act_eef_pose_r": [
          518.3278644042035,
          -223.20034812687865,
          -36.56225665308011,
          1.547806359346021,
          -0.1273924693600483,
          2.217296872014995
        ],
        "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": [
          0.3525439786246958,
          -0.8462460899553695,
          -0.055144206610019175,
          -0.23210221074814402,
          -0.04914768177196375,
          -1.338002396793994,
          0.47947431606962565
        ],
        "joint_pos_r": [
          -0.7329115442499746,
          -0.7603795198048203,
          0.17127601750384486,
          -1.2794953141444556,
          1.005464999703846,
          0.5112240362132467,
          -1.301623220336141
        ],
        "eef_pose_l": [
          557.5213919065865,
          401.4990930320834,
          40.20334052703612,
          1.7050799511114847,
          -0.2024008673107174,
          0.6930862058215822
        ],
        "eef_pose_r": [
          512.1678702989014,
          -245.4317858948394,
          -37.13676794157715,
          1.5531297624779123,
          -0.12016694960711219,
          2.1792244038769426
        ],
        "joint_status_l": {
          "velocity": [
            -1.1977396852103084e-07,
            -2.39221176201454e-06,
            1.677336602945445e-07,
            4.585296364822966e-06,
            -1.0057826793641311e-07,
            -2.8546409680529905e-06,
            7.321521167114042e-08
          ],
          "torque": [
            -40.10009765625,
            4.70947265625,
            -7.611083984375,
            1.6357421875,
            -6.6119384765625,
            -2.2540283203125,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.057866319418622,
            -5.207635572795688,
            -0.6823973537315453,
            2.663466158622896,
            -4.515583697069836,
            -1.0357153275992736,
            4.225315152481812
          ],
          "torque": [
            33.9404296875,
            5.0537109375,
            8.9599609375,
            -3.08837890625,
            -1.16455078125,
            3.5174560546875,
            0.75347900390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -16.5,
            -9.8,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -16.5,
            -9.8,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.8,
            -16.9,
            -0.3,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.8,
            -16.9,
            -0.3,
            1.0,
            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": 127,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439786246958,
          -0.8462460899553695,
          -0.055144206610019175,
          -0.23210221074814402,
          -0.04914768177196375,
          -1.338002396793994,
          0.47947431606962565
        ],
        "act_joint_pos_r": [
          -0.7134742393479478,
          -0.8106271489528946,
          0.16476401845204544,
          -1.2531257397959807,
          0.9509913522752935,
          0.5013053731007812,
          -1.2507912388540847
        ],
        "act_eef_pose_l": [
          557.5213919065865,
          401.4990930320834,
          40.20334052703612,
          1.7050799511114847,
          -0.2024008673107174,
          0.6930862058215822
        ],
        "act_eef_pose_r": [
          517.9694644042036,
          -221.65234812687865,
          -37.01185665308003,
          1.5490686408007535,
          -0.12805307444114972,
          2.223292957965856
        ],
        "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": [
          0.35254397849954733,
          -0.8462460924549242,
          -0.05514420643475899,
          -0.23210220595709735,
          -0.04914768187705513,
          -1.338002399776727,
          0.47947431614612634
        ],
        "joint_pos_r": [
          -0.7292612715660353,
          -0.7697504300795349,
          0.1700571902710275,
          -1.274618061826867,
          0.9959653266283021,
          0.5093697368383323,
          -1.292751845856576
        ],
        "eef_pose_l": [
          557.5213920817101,
          401.4990927916187,
          40.20334045854986,
          1.7050799508850802,
          -0.20240086734732293,
          0.6930862052009346
        ],
        "eef_pose_r": [
          513.3341680694205,
          -241.05444712562138,
          -37.13131426420216,
          1.5522137578439585,
          -0.12175402543545609,
          2.1872106383098076
        ],
        "joint_status_l": {
          "velocity": [
            -1.0625855750845403e-07,
            -2.122267694915081e-06,
            1.48806134081525e-07,
            4.067878478508646e-06,
            -8.92287355114263e-08,
            -2.5325146424393097e-06,
            6.495337601108986e-08
          ],
          "torque": [
            -40.1220703125,
            4.716796875,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -2.255859375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.7049491947656037,
            -4.414555437969092,
            -0.5716456966615713,
            2.3211023220834903,
            -4.8570459792118825,
            -0.8709255970780205,
            4.5316119035199165
          ],
          "torque": [
            34.76806640625,
            3.984375,
            8.538818359375,
            -3.656005859375,
            -1.3677978515625,
            4.0008544921875,
            0.732421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.2,
            -8.1,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.2,
            -8.1,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.7,
            -17.0,
            -0.7,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.7,
            -17.0,
            -0.7,
            1.0,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 179,
          "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": [
          0.35254397849954733,
          -0.8462460924549242,
          -0.05514420643475899,
          -0.23210220595709735,
          -0.04914768187705513,
          -1.338002399776727,
          0.47947431614612634
        ],
        "act_joint_pos_r": [
          -0.7100314737030217,
          -0.8177429152372528,
          0.1638296551756832,
          -1.2413285838870773,
          0.9416767250494625,
          0.5017010439223595,
          -1.2369339805663253
        ],
        "act_eef_pose_l": [
          557.5213920817101,
          401.4990927916187,
          40.20334045854986,
          1.7050799508850802,
          -0.20240086734732293,
          0.6930862052009346
        ],
        "act_eef_pose_r": [
          520.2014644042035,
          -220.78034812687866,
          -37.631056653079895,
          1.5499410732472765,
          -0.13084178012618564,
          2.2239215334009965
        ],
        "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": [
          0.3525439783135534,
          -0.8462460961697309,
          -0.05514420617428947,
          -0.2321021988367033,
          -0.04914768203324063,
          -1.338002404209628,
          0.47947431625982084
        ],
        "joint_pos_r": [
          -0.7257983760382565,
          -0.7784667715348312,
          0.16892670351838776,
          -1.268915354338013,
          0.986168799662736,
          0.507900273230132,
          -1.2828935093721427
        ],
        "eef_pose_l": [
          557.5213923419763,
          401.49909243424275,
          40.20334035676629,
          1.7050799505486,
          -0.2024008674017256,
          0.6930862042785357
        ],
        "eef_pose_r": [
          514.5550610739787,
          -237.28603147172075,
          -37.22880685307234,
          1.551653249152607,
          -0.12343629786172568,
          2.194156685775136
        ],
        "joint_status_l": {
          "velocity": [
            -8.6171514368516e-08,
            -1.7210801672717935e-06,
            1.206762467731437e-07,
            3.2988987097581912e-06,
            -7.236117260944752e-08,
            -2.0537758160799058e-06,
            5.267475344794548e-08
          ],
          "torque": [
            -40.14404296875,
            4.70947265625,
            -7.611083984375,
            1.62353515625,
            -6.6119384765625,
            -2.252197265625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.7027752315348366,
            -4.241698417652984,
            -0.5504649859151556,
            2.9792833394353124,
            -4.805002342265219,
            -0.6694970194804917,
            4.963482720929946
          ],
          "torque": [
            34.62158203125,
            4.21875,
            8.624267578125,
            -3.900146484375,
            -1.395263671875,
            4.35791015625,
            0.87982177734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.5,
            -8.3,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.5,
            -8.3,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -5.0,
            -17.2,
            0.0,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -5.0,
            -17.2,
            0.0,
            1.1,
            0.0,
            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": 187,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439783135534,
          -0.8462460961697309,
          -0.05514420617428947,
          -0.2321021988367033,
          -0.04914768203324063,
          -1.338002404209628,
          0.47947431625982084
        ],
        "act_joint_pos_r": [
          -0.7051145861253488,
          -0.8247694629822959,
          0.16307901540932143,
          -1.2396331420145856,
          0.9571764425254053,
          0.49936361881955116,
          -1.2459431474793632
        ],
        "act_eef_pose_l": [
          557.5213923419763,
          401.49909243424275,
          40.20334035676629,
          1.7050799505486,
          -0.2024008674017256,
          0.6930862042785357
        ],
        "act_eef_pose_r": [
          522.5526644042035,
          -218.56434812687866,
          -35.76305665307996,
          1.5454423460042563,
          -0.13560349160815957,
          2.2211769302334456
        ],
        "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": [
          0.3525439781531066,
          -0.8462460993742875,
          -0.05514420594959694,
          -0.23210219269433655,
          -0.04914768216797318,
          -1.3380024080336443,
          0.4794743163578988
        ],
        "joint_pos_r": [
          -0.7240142329315391,
          -0.7826818946016066,
          0.16838676635537173,
          -1.2660969891346843,
          0.9824239299645059,
          0.5071810366930463,
          -1.2787176995169407
        ],
        "eef_pose_l": [
          557.5213925664932,
          401.4990921259545,
          40.203340268963416,
          1.7050799502583371,
          -0.20240086744865618,
          0.6930862034828332
        ],
        "eef_pose_r": [
          515.2357633322658,
          -235.5600684418129,
          -37.20683719060071,
          1.5512538359556172,
          -0.12442975566996603,
          2.1970034042263284
        ],
        "joint_status_l": {
          "velocity": [
            -6.884404157858626e-08,
            -1.3749987815003806e-06,
            9.641021314621412e-08,
            2.6355426729907094e-06,
            -5.781053413755899e-08,
            -1.6407941672014204e-06,
            4.2082781703811634e-08
          ],
          "torque": [
            -40.13671875,
            4.70947265625,
            -7.60498046875,
            1.6357421875,
            -6.61376953125,
            -2.252197265625,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.0411016559931383,
            -4.545323327968198,
            -0.5732201959476324,
            2.85801119643736,
            -2.7266482252326085,
            -0.8442562303310197,
            3.5395472266941397
          ],
          "torque": [
            36.49658203125,
            2.80517578125,
            9.417724609375,
            -3.240966796875,
            -1.0400390625,
            4.039306640625,
            0.58502197265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.4,
            -8.5,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -16.4,
            -8.5,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.6,
            -16.9,
            -0.1,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.6,
            -16.9,
            -0.1,
            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": 200,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439781531066,
          -0.8462460993742875,
          -0.05514420594959694,
          -0.23210219269433655,
          -0.04914768216797318,
          -1.3380024080336443,
          0.4794743163578988
        ],
        "act_joint_pos_r": [
          -0.7027185873992315,
          -0.832409532498802,
          0.16218860038105093,
          -1.2341198638694153,
          0.9609804195531222,
          0.500879070949129,
          -1.2479870416286893
        ],
        "act_eef_pose_l": [
          557.5213925664932,
          401.4990921259545,
          40.203340268963416,
          1.7050799502583371,
          -0.20240086744865618,
          0.6930862034828332
        ],
        "act_eef_pose_r": [
          524.1182644042035,
          -216.24914812687865,
          -35.343056653079884,
          1.5418323777642888,
          -0.13734170114788039,
          2.2219038675967515
        ],
        "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": [
          0.3525439780483109,
          -0.8462461014673432,
          -0.05514420580283907,
          -0.23210218868245044,
          -0.049147682255973726,
          -1.3380024105313,
          0.4794743164219583
        ],
        "joint_pos_r": [
          -0.720499860789502,
          -0.7906741928919825,
          0.16738411088546187,
          -1.2610204414882242,
          0.9782342353251312,
          0.5059081182404693,
          -1.273070251523526
        ],
        "eef_pose_l": [
          557.5213927131366,
          401.4990919245962,
          40.203340211614886,
          1.7050799500687523,
          -0.2024008674793085,
          0.6930862029631212
        ],
        "eef_pose_r": [
          516.6717262326032,
          -232.41805405982646,
          -36.96555318605817,
          1.5499386322116935,
          -0.12661253516602722,
          2.2013101425486257
        ],
        "joint_status_l": {
          "velocity": [
            -5.752642806555741e-08,
            -1.1489555973298593e-06,
            8.056078026896785e-08,
            2.2022716983371993e-06,
            -4.830674749101149e-08,
            -1.3710543811384923e-06,
            3.516475999276736e-08
          ],
          "torque": [
            -40.2099609375,
            4.69482421875,
            -7.60498046875,
            1.62353515625,
            -6.6119384765625,
            -2.2576904296875,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.920320889312599,
            -4.5072837423081324,
            -0.5610985857582573,
            2.9051766992260752,
            -1.8633571465951349,
            -0.5431210889650373,
            2.708906773708719
          ],
          "torque": [
            34.32861328125,
            3.33251953125,
            9.405517578125,
            -3.16162109375,
            -0.8038330078125,
            3.8909912109375,
            0.7708740234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.7,
            -16.6,
            -8.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.7,
            -16.6,
            -8.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.6,
            -17.2,
            -0.5,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.6,
            -17.2,
            -0.5,
            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": 190,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439780483109,
          -0.8462461014673432,
          -0.05514420580283907,
          -0.23210218868245044,
          -0.049147682255973726,
          -1.3380024105313,
          0.4794743164219583
        ],
        "act_joint_pos_r": [
          -0.6983864535597188,
          -0.8412879943631406,
          0.16110015970460748,
          -1.2215505143778764,
          0.9653225680249591,
          0.5052540469312103,
          -1.2442944631222652
        ],
        "act_eef_pose_l": [
          557.5213927131366,
          401.4990919245962,
          40.203340211614886,
          1.7050799500687523,
          -0.2024008674793085,
          0.6930862029631212
        ],
        "act_eef_pose_r": [
          527.3294644042035,
          -215.52114812687864,
          -34.55745665308018,
          1.5365139918157988,
          -0.14210522949033072,
          2.218576605145134
        ],
        "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": [
          0.3525439779541311,
          -0.8462461033483705,
          -0.05514420567094788,
          -0.23210218507697233,
          -0.04914768233505971,
          -1.3380024127759411,
          0.47947431647952854
        ],
        "joint_pos_r": [
          -0.7162824039295526,
          -0.8004449209459068,
          0.1661694538124774,
          -1.2540416929168445,
          0.9749918909451747,
          0.505272329711595,
          -1.2673614451315374
        ],
        "eef_pose_l": [
          557.5213928449247,
          401.4990917436356,
          40.203340160075896,
          1.7050799498983724,
          -0.20240086750685557,
          0.6930862024960555
        ],
        "eef_pose_r": [
          518.6100479684367,
          -228.94353633171943,
          -36.59499689920074,
          1.5476599055443214,
          -0.1294499153688648,
          2.2053124927203918
        ],
        "joint_status_l": {
          "velocity": [
            -4.735500880315158e-08,
            -9.45810540997627e-07,
            6.631700744108571e-08,
            1.8128916146054053e-06,
            -3.97656907402677e-08,
            -1.1286402923360583e-06,
            2.894706696565663e-08
          ],
          "torque": [
            -40.13671875,
            4.6875,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -2.255859375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.9327056378370955,
            -4.4109218358752145,
            -0.547467616955899,
            3.5089437914432864,
            -1.0442560766970033,
            -0.001974482047195636,
            2.491160584147778
          ],
          "torque": [
            35.79345703125,
            3.14208984375,
            8.77685546875,
            -3.167724609375,
            -1.0894775390625,
            4.9017333984375,
            0.67474365234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.4,
            -9.2,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.4,
            -9.2,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -16.9,
            -0.3,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -16.9,
            -0.3,
            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": 217,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439779541311,
          -0.8462461033483705,
          -0.05514420567094788,
          -0.23210218507697233,
          -0.04914768233505971,
          -1.3380024127759411,
          0.47947431647952854
        ],
        "act_joint_pos_r": [
          -0.6967008271495745,
          -0.8432666802593557,
          0.1609103254081727,
          -1.219361059561718,
          0.9708490988157134,
          0.505410788047405,
          -1.2470440534682115
        ],
        "act_eef_pose_l": [
          557.5213928449247,
          401.4990917436356,
          40.203340160075896,
          1.7050799498983724,
          -0.20240086750685557,
          0.6930862024960555
        ],
        "act_eef_pose_r": [
          528.4102644042034,
          -215.53474812687867,
          -33.95825665308007,
          1.5348402676727793,
          -0.14345795422221713,
          2.216086703429929
        ],
        "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": [
          0.35254397788204594,
          -0.8462461047881055,
          -0.05514420556999859,
          -0.23210218231734542,
          -0.04914768239559201,
          -1.3380024144939853,
          0.4794743165235928
        ],
        "joint_pos_r": [
          -0.7129967128416207,
          -0.8078089864061103,
          0.1652594726120202,
          -1.248139115877707,
          0.9736807458964053,
          0.5052803984708655,
          -1.2634812590602391
        ],
        "eef_pose_l": [
          557.5213929457954,
          401.4990916051288,
          40.20334012062804,
          1.705079949767964,
          -0.20240086752794043,
          0.6930862021385645
        ],
        "eef_pose_r": [
          520.2517225602306,
          -226.60259565688744,
          -36.23003893337011,
          1.5455548249795446,
          -0.13183164012019624,
          2.2074294915804686
        ],
        "joint_status_l": {
          "velocity": [
            -3.957012495447998e-08,
            -7.903233623096639e-07,
            5.5414783872720363e-08,
            1.5148606813397691e-06,
            -3.322842001551862e-08,
            -9.430980441038628e-07,
            2.418865108211321e-08
          ],
          "torque": [
            -40.1513671875,
            4.74609375,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -2.255859375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.7599037491544678,
            -3.829317996452808,
            -0.46969404513008683,
            3.1079384183829717,
            -0.30580886536490937,
            0.014081658949560705,
            1.7751658482207944
          ],
          "torque": [
            37.7783203125,
            3.56689453125,
            9.149169921875,
            -3.875732421875,
            -1.0455322265625,
            5.0628662109375,
            0.68389892578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.9,
            -17.0,
            -8.8,
            1.5,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.9,
            -17.0,
            -8.8,
            1.5,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.6,
            -17.6,
            -0.4,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.6,
            -17.6,
            -0.4,
            1.1,
            0.0,
            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": 156,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397788204594,
          -0.8462461047881055,
          -0.05514420556999859,
          -0.23210218231734542,
          -0.04914768239559201,
          -1.3380024144939853,
          0.4794743165235928
        ],
        "act_joint_pos_r": [
          -0.6948401758568609,
          -0.8470546275478196,
          0.16050841822924444,
          -1.2164971605937633,
          0.9829207983185347,
          0.5063667364332336,
          -1.2558130859173893
        ],
        "act_eef_pose_l": [
          557.5213929457954,
          401.4990916051288,
          40.20334012062804,
          1.705079949767964,
          -0.20240086752794043,
          0.6930862021385645
        ],
        "act_eef_pose_r": [
          529.9542644042035,
          -215.21554812687864,
          -33.171056653080086,
          1.5314626349420215,
          -0.14518863517906572,
          2.211783844517653
        ],
        "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": [
          0.35254397781726315,
          -0.8462461060819941,
          -0.055144205479275586,
          -0.23210217983727138,
          -0.04914768244999231,
          -1.3380024160379904,
          0.47947431656319306
        ],
        "joint_pos_r": [
          -0.7101077840876397,
          -0.8140655085786924,
          0.16449914075397634,
          -1.2430849671858946,
          0.974577440976363,
          0.5054097058239533,
          -1.261768581498158
        ],
        "eef_pose_l": [
          557.5213930364473,
          401.4990914806524,
          40.20334008517628,
          1.7050799496507658,
          -0.2024008675468889,
          0.6930862018172871
        ],
        "eef_pose_r": [
          521.7846427905488,
          -224.7717702251025,
          -35.79908839609001,
          1.5434034298481798,
          -0.13396656640738905,
          2.2083235269104695
        ],
        "joint_status_l": {
          "velocity": [
            -3.257394354250209e-08,
            -6.505880278950826e-07,
            4.5616954658100894e-08,
            1.2470204868719748e-06,
            -2.735334181380722e-08,
            -7.763496512325219e-07,
            1.9911627902047258e-08
          ],
          "torque": [
            -40.15869140625,
            4.6875,
            -7.611083984375,
            1.629638671875,
            -6.61376953125,
            -2.2576904296875,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.6488530586027395,
            -3.5627197718630654,
            -0.4309853214385928,
            2.871398424581173,
            0.9010560177271643,
            0.1033562574721536,
            0.6431745533053146
          ],
          "torque": [
            35.56640625,
            2.02880859375,
            9.02099609375,
            -3.936767578125,
            0.8624267578125,
            5.58837890625,
            0.57403564453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.9,
            -8.3,
            1.5,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -16.9,
            -8.3,
            1.5,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.3,
            -16.7,
            -1.2,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.3,
            -16.7,
            -1.2,
            1.0,
            0.0,
            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": 200,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397781726315,
          -0.8462461060819941,
          -0.055144205479275586,
          -0.23210217983727138,
          -0.04914768244999231,
          -1.3380024160379904,
          0.47947431656319306
        ],
        "act_joint_pos_r": [
          -0.6926151561912133,
          -0.8516227246175218,
          0.16000300394713762,
          -1.212091012201945,
          0.9961271743739157,
          0.50636556649639,
          -1.2635663306327989
        ],
        "act_eef_pose_l": [
          557.5213930364473,
          401.4990914806524,
          40.20334008517628,
          1.7050799496507658,
          -0.2024008675468889,
          0.6930862018172871
        ],
        "act_eef_pose_r": [
          531.9230644042035,
          -215.07074812687867,
          -32.658256653080116,
          1.5291518703210343,
          -0.14857990142405805,
          2.206072956639049
        ],
        "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": [
          0.35254397778322777,
          -0.8462461067617748,
          -0.05514420543161169,
          -0.23210217853429482,
          -0.04914768247857305,
          -1.3380024168491766,
          0.4794743165839983
        ],
        "joint_pos_r": [
          -0.707127941800048,
          -0.8204739415859921,
          0.16372985428621076,
          -1.2378287490729794,
          0.977716906878109,
          0.5055787694439662,
          -1.261692677020326
        ],
        "eef_pose_l": [
          557.521393084074,
          401.4990914152554,
          40.20334006655071,
          1.7050799495891924,
          -0.20240086755684394,
          0.6930862016484952
        ],
        "eef_pose_r": [
          523.4941951481275,
          -223.08694537144208,
          -35.298782069456934,
          1.540986895602329,
          -0.13639475938776274,
          2.208172099772455
        ],
        "joint_status_l": {
          "velocity": [
            -2.8898217152573125e-08,
            -5.771738642579294e-07,
            4.0469405604426356e-08,
            1.106303271214415e-06,
            -2.426669976074436e-08,
            -6.887450609838197e-07,
            1.766498058941579e-08
          ],
          "torque": [
            -40.166015625,
            4.70947265625,
            -7.611083984375,
            1.629638671875,
            -6.6156005859375,
            -2.2540283203125,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.567334619690719,
            -3.3639693524323278,
            -0.4024879658719449,
            2.779593602340924,
            1.9882502492398757,
            0.08497157555886758,
            -0.20234862219226102
          ],
          "torque": [
            36.07177734375,
            3.64013671875,
            8.984375,
            -3.38134765625,
            1.63330078125,
            5.8099365234375,
            -0.3753662109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.1,
            -8.4,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -16.1,
            -8.4,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.5,
            -17.0,
            -0.4,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.5,
            -17.0,
            -0.4,
            1.1,
            0.0,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 162,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 1,
          "position": 20,
          "motor_current": 248,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397778322777,
          -0.8462461067617748,
          -0.05514420543161169,
          -0.23210217853429482,
          -0.04914768247857305,
          -1.3380024168491766,
          0.4794743165839983
        ],
        "act_joint_pos_r": [
          -0.6929523602869092,
          -0.8533768688105874,
          0.1598907108461593,
          -1.2148723410650168,
          1.0124095470300691,
          0.5038332602437493,
          -1.2760463763423544
        ],
        "act_eef_pose_l": [
          557.521393084074,
          401.4990914152554,
          40.20334006655071,
          1.7050799495891924,
          -0.20240086755684394,
          0.6930862016484952
        ],
        "act_eef_pose_r": [
          532.2958644042035,
          -214.46274812687867,
          -32.671856653079885,
          1.528992545115288,
          -0.15282047433586554,
          2.201710559745972
        ],
        "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": [
          0.3525439777294211,
          -0.84624610783644,
          -0.05514420535625985,
          -0.23210217647441944,
          -0.04914768252375632,
          -1.338002418131581,
          0.47947431661688916
        ],
        "joint_pos_r": [
          -0.704435673124359,
          -0.82662848701609,
          0.16300829584303625,
          -1.233385554528475,
          0.9836687142355673,
          0.5053431116139805,
          -1.2639412766440465
        ],
        "eef_pose_l": [
          557.5213931593671,
          401.4990913118693,
          40.203340037105505,
          1.705079949491851,
          -0.2024008675725822,
          0.6930862013816519
        ],
        "eef_pose_r": [
          525.1604963453387,
          -221.4984248010858,
          -34.81961942822278,
          1.5386865756131007,
          -0.1393436033848868,
          2.2070716947684814
        ],
        "joint_status_l": {
          "velocity": [
            -2.3087309841685055e-08,
            -4.611129256204549e-07,
            3.2331692878528884e-08,
            8.838432208335689e-07,
            -1.938704752291187e-08,
            -5.502496236431398e-07,
            1.411271099982514e-08
          ],
          "torque": [
            -40.11474609375,
            4.70947265625,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -2.255859375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.2401612098447146,
            -2.8887400349724146,
            -0.33668924954421975,
            1.999368085844111,
            3.1039183966257156,
            -0.163059138812649,
            -1.3073122103044454
          ],
          "torque": [
            36.8701171875,
            2.98095703125,
            8.89892578125,
            -3.69873046875,
            1.6058349609375,
            3.9111328125,
            -0.72784423828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -16.7,
            -8.6,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.0,
            -16.7,
            -8.6,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.6,
            -16.8,
            -0.4,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.6,
            -16.8,
            -0.4,
            1.0,
            0.0,
            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": 146,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439777294211,
          -0.84624610783644,
          -0.05514420535625985,
          -0.23210217647441944,
          -0.04914768252375632,
          -1.338002418131581,
          0.47947431661688916
        ],
        "act_joint_pos_r": [
          -0.6944593231670906,
          -0.8536956786022908,
          0.15992462698217166,
          -1.2180092534064606,
          1.0195016565453692,
          0.5029878236223305,
          -1.282084555309304
        ],
        "act_eef_pose_l": [
          557.5213931593671,
          401.4990913118693,
          40.203340037105505,
          1.705079949491851,
          -0.2024008675725822,
          0.6930862013816519
        ],
        "act_eef_pose_r": [
          531.7830644042035,
          -213.81074812687865,
          -33.01185665308003,
          1.5291024947349503,
          -0.1553698644272686,
          2.201019223574473
        ],
        "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": [
          0.35254397768900936,
          -0.8462461086435699,
          -0.05514420529966665,
          -0.2321021749273447,
          -0.049147682557691336,
          -1.3380024190947337,
          0.4794743166415921
        ],
        "joint_pos_r": [
          -0.703471805171103,
          -0.8289305307318765,
          0.16274104320995478,
          -1.2318421307427214,
          0.9862425000078294,
          0.5052008776065118,
          -1.2650706318531357
        ],
        "eef_pose_l": [
          557.5213932159162,
          401.499091234221,
          40.203340014990715,
          1.705079949418743,
          -0.2024008675844027,
          0.6930862011812394
        ],
        "eef_pose_r": [
          525.7716914823466,
          -220.89105771579383,
          -34.645389402319495,
          1.5378381122731462,
          -0.1405382740726523,
          2.2065860811559816
        ],
        "joint_status_l": {
          "velocity": [
            -1.872280108727864e-08,
            -3.739453191542452e-07,
            2.6219804105664934e-08,
            7.167642035454946e-07,
            -1.572220131862423e-08,
            -4.462314961983793e-07,
            1.1445067116255814e-08
          ],
          "torque": [
            -40.14404296875,
            4.68017578125,
            -7.60498046875,
            1.62353515625,
            -6.61376953125,
            -2.2540283203125,
            0.3167724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.9733193499137371,
            -2.674557088159446,
            -0.3041639817635833,
            1.493906691894864,
            3.5918829691281573,
            -0.23900278128152763,
            -1.8374495405879543
          ],
          "torque": [
            37.47802734375,
            2.93701171875,
            9.161376953125,
            -3.497314453125,
            1.6278076171875,
            3.914794921875,
            -0.699462890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.4,
            -8.4,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.4,
            -8.4,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.4,
            -17.1,
            -0.5,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.4,
            -17.1,
            -0.5,
            1.0,
            0.0,
            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": 169,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397768900936,
          -0.8462461086435699,
          -0.05514420529966665,
          -0.2321021749273447,
          -0.049147682557691336,
          -1.3380024190947337,
          0.4794743166415921
        ],
        "act_joint_pos_r": [
          -0.6982650104815602,
          -0.8558544751680529,
          0.1597303580437109,
          -1.2194487385054773,
          1.0204393300877346,
          0.5020759550896379,
          -1.2839155630771724
        ],
        "act_eef_pose_l": [
          557.5213932159162,
          401.499091234221,
          40.203340014990715,
          1.705079949418743,
          -0.2024008675844027,
          0.6930862011812394
        ],
        "act_eef_pose_r": [
          530.5822644042034,
          -212.16514812687865,
          -35.015856653079936,
          1.5317984980171016,
          -0.1582788138161136,
          2.202930127521275
        ],
        "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": [
          0.352543977658357,
          -0.8462461092557799,
          -0.05514420525674058,
          -0.23210217375388495,
          -0.04914768258343112,
          -1.3380024198252876,
          0.4794743166603292
        ],
        "joint_pos_r": [
          -0.7020949666201599,
          -0.8337974720442319,
          0.16219195115827023,
          -1.2293508354295757,
          0.9926102467089467,
          0.5047042117337622,
          -1.26844415192075
        ],
        "eef_pose_l": [
          557.5213932588089,
          401.49909117532445,
          40.203339998216535,
          1.7050799493632904,
          -0.2024008675933686,
          0.693086201029225
        ],
        "eef_pose_r": [
          526.8171070742395,
          -219.42297963213375,
          -34.51266188093416,
          1.5363710191296098,
          -0.14358884137522523,
          2.205672784244384
        ],
        "joint_status_l": {
          "velocity": [
            -1.5412560117056273e-08,
            -3.078293175917679e-07,
            2.15839013328889e-08,
            5.900342436859773e-07,
            -1.2942369398416531e-08,
            -3.673346071764172e-07,
            9.421352586969078e-09
          ],
          "torque": [
            -40.166015625,
            4.72412109375,
            -7.611083984375,
            1.629638671875,
            -6.6156005859375,
            -2.252197265625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.41362306380854363,
            -2.382086081498258,
            -0.26584421571640426,
            1.069394927686318,
            3.0054523638289865,
            -0.2838433460534695,
            -1.6708631254189754
          ],
          "torque": [
            35.80810546875,
            1.640625,
            8.48388671875,
            -3.41796875,
            1.7266845703125,
            3.7957763671875,
            -0.84136962890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.6,
            -8.6,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.6,
            -8.6,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.7,
            -16.9,
            -1.1,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.7,
            -16.9,
            -1.1,
            1.0,
            0.0,
            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": 131,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.352543977658357,
          -0.8462461092557799,
          -0.05514420525674058,
          -0.23210217375388495,
          -0.04914768258343112,
          -1.3380024198252876,
          0.4794743166603292
        ],
        "act_joint_pos_r": [
          -0.6989982222796631,
          -0.8578523710695999,
          0.15954746824530605,
          -1.2200571126144202,
          1.0135686019277719,
          0.49722040461703904,
          -1.274034176187939
        ],
        "act_eef_pose_l": [
          557.5213932588089,
          401.49909117532445,
          40.203339998216535,
          1.7050799493632904,
          -0.2024008675933686,
          0.693086201029225
        ],
        "act_eef_pose_r": [
          529.9510644042035,
          -210.34754812687865,
          -36.411856653079894,
          1.5368119819166786,
          -0.1637461463286528,
          2.207014016914782
        ],
        "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": [
          0.35254397763312423,
          -0.8462461097597461,
          -0.0551442052214042,
          -0.23210217278790277,
          -0.0491476826046199,
          -1.3380024204266732,
          0.47947431667575346
        ],
        "joint_pos_r": [
          -0.7014339354235264,
          -0.8381386544923335,
          0.16171091113870617,
          -1.227531222683088,
          0.9972808769572953,
          0.503790350653885,
          -1.270520150898549
        ],
        "eef_pose_l": [
          557.5213932941177,
          401.49909112684134,
          40.20333998440819,
          1.7050799493176418,
          -0.20240086760074893,
          0.6930862009040892
        ],
        "eef_pose_r": [
          527.4857407553744,
          -217.90539403839736,
          -34.73123141423727,
          1.53590709397977,
          -0.1468367791101268,
          2.2054864222452113
        ],
        "joint_status_l": {
          "velocity": [
            -1.2687628725416289e-08,
            -2.5340174403254423e-07,
            1.7767676219193618e-08,
            4.857112489986548e-07,
            -1.065403321121039e-08,
            -3.0238567205742584e-07,
            7.755573960821494e-09
          ],
          "torque": [
            -40.13671875,
            4.7021484375,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -2.2540283203125,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.26304926131448525,
            -2.129018598297172,
            -0.23364494149791248,
            0.8071800809119622,
            1.7590224172172597,
            -0.7095332454150061,
            -0.3795035383955536
          ],
          "torque": [
            36.97265625,
            2.7685546875,
            8.50830078125,
            -3.912353515625,
            1.6094970703125,
            3.69140625,
            -0.71136474609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.6,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.6,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.8,
            -16.8,
            -1.5,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.8,
            -16.8,
            -1.5,
            1.0,
            0.0,
            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": 223,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397763312423,
          -0.8462461097597461,
          -0.0551442052214042,
          -0.23210217278790277,
          -0.0491476826046199,
          -1.3380024204266732,
          0.47947431667575346
        ],
        "act_joint_pos_r": [
          -0.6977769553212401,
          -0.8624443906909407,
          0.15909795281954858,
          -1.2206198006373181,
          1.0038976329869822,
          0.49592878687926,
          -1.2651134194918847
        ],
        "act_eef_pose_l": [
          557.5213932941177,
          401.49909112684134,
          40.20333998440819,
          1.7050799493176418,
          -0.20240086760074893,
          0.6930862009040892
        ],
        "act_eef_pose_r": [
          529.5078644042035,
          -206.76674812687867,
          -36.163856653080074,
          1.5361102813192893,
          -0.16583660304851788,
          2.21572839473023
        ],
        "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": [
          0.3525439776138111,
          -0.846246110145481,
          -0.0551442051943578,
          -0.23210217204854153,
          -0.049147682620837754,
          -1.338002420886973,
          0.47947431668755913
        ],
        "joint_pos_r": [
          -0.7009323133020279,
          -0.8418910465900694,
          0.16130227500227381,
          -1.2262424348683756,
          0.9995987057346445,
          0.5025536733317941,
          -1.270623076856397
        ],
        "eef_pose_l": [
          557.5213933211428,
          401.4990910897324,
          40.20333997383929,
          1.7050799492827025,
          -0.20240086760639803,
          0.6930862008083096
        ],
        "eef_pose_r": [
          527.9063001438326,
          -216.369555956875,
          -35.020182805371974,
          1.5360161341063534,
          -0.1499538664144324,
          2.206247941689416
        ],
        "joint_status_l": {
          "velocity": [
            -1.0601741706750545e-08,
            -2.1174439979176896e-07,
            1.4846790463707293e-08,
            4.058624547553791e-07,
            -8.902600878712974e-09,
            -2.5267610226364923e-07,
            6.480593839341964e-09
          ],
          "torque": [
            -40.1220703125,
            4.70947265625,
            -7.611083984375,
            1.62353515625,
            -6.6119384765625,
            -2.252197265625,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.34076861149223703,
            -2.2196956964686265,
            -0.2380597745366142,
            0.6072265877641314,
            0.4642704503270423,
            -0.7154666353130779,
            0.5950254460316273
          ],
          "torque": [
            36.23291015625,
            2.10205078125,
            8.782958984375,
            -3.558349609375,
            0.904541015625,
            3.5357666015625,
            -0.65093994140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.5,
            -8.3,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.5,
            -8.3,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.5,
            -16.9,
            -0.3,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.5,
            -16.9,
            -0.3,
            1.0,
            0.0,
            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": 148,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439776138111,
          -0.846246110145481,
          -0.0551442051943578,
          -0.23210217204854153,
          -0.049147682620837754,
          -1.338002420886973,
          0.47947431668755913
        ],
        "act_joint_pos_r": [
          -0.6954482414190372,
          -0.8681616337318214,
          0.15845117430575684,
          -1.2146277698845602,
          0.9933556923438065,
          0.49919567678300064,
          -1.2536692561733127
        ],
        "act_eef_pose_l": [
          557.5213933211428,
          401.4990910897324,
          40.20333997383929,
          1.7050799492827025,
          -0.20240086760639803,
          0.6930862008083096
        ],
        "act_eef_pose_r": [
          530.3070644042035,
          -204.54354812687865,
          -35.59585665308009,
          1.5326177146263633,
          -0.16705959713947574,
          2.2216005265880305
        ],
        "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": [
          0.352543977604047,
          -0.8462461103404975,
          -0.05514420518068392,
          -0.2321021716747416,
          -0.04914768262903704,
          -1.3380024211196873,
          0.47947431669352775
        ],
        "joint_pos_r": [
          -0.7000809509604439,
          -0.8462455474012529,
          0.16083102417006642,
          -1.224493179865265,
          0.9990302787572416,
          0.5017940367854277,
          -1.2682067100077605
        ],
        "eef_pose_l": [
          557.521393334806,
          401.49909107097125,
          40.20333996849601,
          1.7050799492650384,
          -0.202400867609254,
          0.6930862007598863
        ],
        "eef_pose_r": [
          528.302844314892,
          -214.3994005038863,
          -35.16276339806029,
          1.5355958153478362,
          -0.15293301886106847,
          2.2086505258938027
        ],
        "joint_status_l": {
          "velocity": [
            -9.547029833356646e-09,
            -1.9068302492541989e-07,
            1.3370027307502141e-08,
            3.6549341331237883e-07,
            -8.017086994271949e-09,
            -2.2754242934297508e-07,
            5.835776306639673e-09
          ],
          "torque": [
            -40.1513671875,
            4.68017578125,
            -7.611083984375,
            1.629638671875,
            -6.61376953125,
            -2.2540283203125,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5003178743852033,
            -2.366867516675697,
            -0.2570162050579139,
            1.0654328546539915,
            -0.6128372579823349,
            -0.2806146039766588,
            1.5699987094830448
          ],
          "torque": [
            37.5439453125,
            3.75,
            8.8134765625,
            -3.40576171875,
            -0.6610107421875,
            3.5980224609375,
            0.48614501953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.4,
            -8.3,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.4,
            -8.3,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.7,
            -17.1,
            -0.2,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.7,
            -17.1,
            -0.2,
            1.1,
            0.0,
            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": 143,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.352543977604047,
          -0.8462461103404975,
          -0.05514420518068392,
          -0.2321021716747416,
          -0.04914768262903704,
          -1.3380024211196873,
          0.47947431669352775
        ],
        "act_joint_pos_r": [
          -0.6944186021896539,
          -0.8714124130832506,
          0.15804993534946782,
          -1.2078533506823859,
          0.9879233796735286,
          0.5010781758672177,
          -1.2458884458844501
        ],
        "act_eef_pose_l": [
          557.521393334806,
          401.49909107097125,
          40.20333996849601,
          1.7050799492650384,
          -0.202400867609254,
          0.6930862007598863
        ],
        "act_eef_pose_r": [
          531.3126644042035,
          -204.42674812687866,
          -36.00225665308017,
          1.5323262030079707,
          -0.1684640896963119,
          2.221736681192738
        ],
        "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": [
          0.3525439775862708,
          -0.8462461106955383,
          -0.05514420515578967,
          -0.23210217099421326,
          -0.0491476826439644,
          -1.3380024215433595,
          0.479474316704394
        ],
        "joint_pos_r": [
          -0.698993092593762,
          -0.851145976050141,
          0.16029156811935627,
          -1.2214810793102293,
          0.997064611330291,
          0.5015573020353752,
          -1.2641023705353986
        ],
        "eef_pose_l": [
          557.5213933596809,
          401.49909103681523,
          40.203339958768,
          1.7050799492328796,
          -0.20240086761445353,
          0.6930862006717287
        ],
        "eef_pose_r": [
          528.8697795775518,
          -212.4091197305197,
          -35.32282359525891,
          1.5349521474245993,
          -0.15600385383535698,
          2.2112618539608273
        ],
        "joint_status_l": {
          "velocity": [
            -7.627232179174825e-09,
            -1.5233947436854578e-07,
            1.0681511231069862e-08,
            2.9199842543903287e-07,
            -6.404987651364991e-09,
            -1.8178702987370343e-07,
            4.662492614215807e-09
          ],
          "torque": [
            -40.11474609375,
            4.70947265625,
            -7.611083984375,
            1.62353515625,
            -6.6119384765625,
            -2.252197265625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.49403039299633633,
            -2.188710647005543,
            -0.2420891991088414,
            1.4717512848232417,
            -0.9872239023174245,
            -0.05174410005048813,
            1.967045847386828
          ],
          "torque": [
            36.533203125,
            3.603515625,
            8.856201171875,
            -4.06494140625,
            -0.8203125,
            4.4677734375,
            0.74981689453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.4,
            -8.8,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.4,
            -8.8,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.6,
            -16.9,
            -0.3,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.6,
            -16.9,
            -0.3,
            1.0,
            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": 156,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775862708,
          -0.8462461106955383,
          -0.05514420515578967,
          -0.23210217099421326,
          -0.0491476826439644,
          -1.3380024215433595,
          0.479474316704394
        ],
        "act_joint_pos_r": [
          -0.6932250716660922,
          -0.8775104285017273,
          0.15730795000850767,
          -1.1957589997717313,
          0.9875044384671439,
          0.502036571422309,
          -1.2421261085660336
        ],
        "act_eef_pose_l": [
          557.5213933596809,
          401.49909103681523,
          40.203339958768,
          1.7050799492328796,
          -0.20240086761445353,
          0.6930862006717287
        ],
        "act_eef_pose_r": [
          533.5134644042034,
          -204.80914812687865,
          -37.40945665308004,
          1.5339625612325734,
          -0.16970568441011982,
          2.2170270613522205
        ],
        "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": [
          0.3525439775712308,
          -0.8462461109959271,
          -0.055144205134727425,
          -0.2321021704184398,
          -0.04914768265659395,
          -1.3380024219018152,
          0.47947431671358764
        ],
        "joint_pos_r": [
          -0.6979624377761475,
          -0.8558247377365819,
          0.15976467685835843,
          -1.2172237600441358,
          0.9952783447456205,
          0.5015999510399852,
          -1.2601362803431875
        ],
        "eef_pose_l": [
          557.5213933807267,
          401.4990910079171,
          40.203339950537554,
          1.7050799492056714,
          -0.2024008676188529,
          0.6930862005971419
        ],
        "eef_pose_r": [
          529.6464077583661,
          -210.9645651752584,
          -35.65669481554997,
          1.5346783592989452,
          -0.15854363929105336,
          2.2125778286959568
        ],
        "joint_status_l": {
          "velocity": [
            -6.0031979387531464e-09,
            -1.198987575889987e-07,
            8.406886298217842e-09,
            2.2981683223122218e-07,
            -5.0410231544617545e-09,
            -1.4307488527265377e-07,
            3.6695091409910674e-09
          ],
          "torque": [
            -40.166015625,
            4.74609375,
            -7.60498046875,
            1.629638671875,
            -6.6119384765625,
            -2.252197265625,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5116204504478361,
            -2.3419855294637415,
            -0.265318674627979,
            2.318125739956045,
            -0.8395571166621707,
            0.047153610569061755,
            1.9450411860102435
          ],
          "torque": [
            36.96533203125,
            1.728515625,
            8.9111328125,
            -3.717041015625,
            -0.9521484375,
            4.500732421875,
            0.728759765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.5,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.5,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -5.0,
            -16.9,
            0.0,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -5.0,
            -16.9,
            0.0,
            1.1,
            0.0,
            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": 202,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775712308,
          -0.8462461109959271,
          -0.055144205134727425,
          -0.2321021704184398,
          -0.04914768265659395,
          -1.3380024219018152,
          0.47947431671358764
        ],
        "act_joint_pos_r": [
          -0.6925707241598582,
          -0.8800588144700234,
          0.15699740849096758,
          -1.189770700102497,
          1.0099258635795536,
          0.4986226000419475,
          -1.2630415014644603
        ],
        "act_eef_pose_l": [
          557.5213933807267,
          401.4990910079171,
          40.203339950537554,
          1.7050799492056714,
          -0.2024008676188529,
          0.6930862005971419
        ],
        "act_eef_pose_r": [
          535.9998644042034,
          -207.12034812687867,
          -38.50385665307999,
          1.537118637464806,
          -0.16751771132151017,
          2.202497749548388
        ],
        "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": [
          0.35254397756209277,
          -0.8462461111784394,
          -0.05514420512193029,
          -0.23210217006860728,
          -0.049147682664267514,
          -1.3380024221196083,
          0.4794743167191736
        ],
        "joint_pos_r": [
          -0.6976871504489486,
          -0.8570848885694515,
          0.1596219169887512,
          -1.2159764474347485,
          0.9948266047214004,
          0.5016253229566278,
          -1.2590897131293082
        ],
        "eef_pose_l": [
          557.5213933935139,
          401.4990909903588,
          40.20333994553684,
          1.7050799491891395,
          -0.20240086762152562,
          0.6930862005518232
        ],
        "eef_pose_r": [
          529.8734100414838,
          -210.61002273551307,
          -35.76113814809605,
          1.534635257801086,
          -0.15919512594514793,
          2.212834063284364
        ],
        "joint_status_l": {
          "velocity": [
            -5.016431714466307e-09,
            -1.0018741392059383e-07,
            7.0248251660132155e-09,
            1.920359427032281e-07,
            -4.2122971777303064e-09,
            -1.1955414436215506e-07,
            3.0664359940146824e-09
          ],
          "torque": [
            -40.166015625,
            4.70947265625,
            -7.60498046875,
            1.62353515625,
            -6.61376953125,
            -2.2540283203125,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.4818902959540239,
            -2.2058932533415287,
            -0.2499010634284815,
            2.18341995107707,
            -0.7907706329266517,
            0.044413524386222036,
            1.8320152604331952
          ],
          "torque": [
            36.9287109375,
            3.33984375,
            8.935546875,
            -3.790283203125,
            -0.94482421875,
            4.5501708984375,
            0.63629150390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.6,
            -8.4,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.6,
            -8.4,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.8,
            -17.2,
            -0.6,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.8,
            -17.2,
            -0.6,
            1.0,
            0.0,
            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": 183,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397756209277,
          -0.8462461111784394,
          -0.05514420512193029,
          -0.23210217006860728,
          -0.049147682664267514,
          -1.3380024221196083,
          0.4794743167191736
        ],
        "act_joint_pos_r": [
          -0.6934650261169648,
          -0.8738725629847042,
          0.15752303567446316,
          -1.1842773991831206,
          1.0309287511812748,
          0.5001421652555111,
          -1.276872171437627
        ],
        "act_eef_pose_l": [
          557.5213933935139,
          401.4990909903588,
          40.20333994553684,
          1.7050799491891395,
          -0.20240086762152562,
          0.6930862005518232
        ],
        "act_eef_pose_r": [
          538.0134644042034,
          -214.23314812687866,
          -39.196656653080026,
          1.5391715218537196,
          -0.1677053341959817,
          2.1829991517545295
        ],
        "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": [
          0.35254397755388045,
          -0.8462461113424633,
          -0.0551442051104295,
          -0.2321021697542131,
          -0.04914768267116373,
          -1.3380024223153388,
          0.4794743167241938
        ],
        "joint_pos_r": [
          -0.6966943142575932,
          -0.8613316742068627,
          0.15911898941487707,
          -1.2099205545209404,
          0.9998649821010729,
          0.5011775477266763,
          -1.2610587003501268
        ],
        "eef_pose_l": [
          557.5213934050057,
          401.4990909745791,
          40.20333994104263,
          1.7050799491742825,
          -0.20240086762392764,
          0.6930862005110954
        ],
        "eef_pose_r": [
          531.3632567023735,
          -210.5497208650779,
          -36.40656747394013,
          1.5353122139682045,
          -0.16102849931445368,
          2.2088662906782224
        ],
        "joint_status_l": {
          "velocity": [
            -4.129141473185882e-09,
            -8.247358351809453e-08,
            5.782763157213822e-09,
            1.580824360303268e-07,
            -3.46750406166052e-09,
            -9.841549797329208e-08,
            2.524203068787756e-09
          ],
          "torque": [
            -40.15869140625,
            4.716796875,
            -7.60498046875,
            1.629638671875,
            -6.6119384765625,
            -2.252197265625,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.34875283327284734,
            -1.3543760428200713,
            -0.17235792053971188,
            2.769379098014113,
            3.3547881164750493,
            -0.11181800899029426,
            -1.7078045084488735
          ],
          "torque": [
            38.09326171875,
            4.13818359375,
            9.2041015625,
            -2.520751953125,
            1.5325927734375,
            3.431396484375,
            -0.523681640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.7,
            -8.5,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -16.7,
            -8.5,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -17.4,
            0.7,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -17.4,
            0.7,
            1.0,
            0.1,
            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": 181,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397755388045,
          -0.8462461113424633,
          -0.0551442051104295,
          -0.2321021697542131,
          -0.04914768267116373,
          -1.3380024223153388,
          0.4794743167241938
        ],
        "act_joint_pos_r": [
          -0.6977286188853049,
          -0.8557507522464397,
          0.15935555328504936,
          -1.187326943076795,
          1.030122271040205,
          0.4999492436037055,
          -1.281553927174219
        ],
        "act_eef_pose_l": [
          557.5213934050057,
          401.4990909745791,
          40.20333994104263,
          1.7050799491742825,
          -0.20240086762392764,
          0.6930862005110954
        ],
        "act_eef_pose_r": [
          536.7518644042035,
          -223.83154812687866,
          -40.475056653079946,
          1.5468111259011736,
          -0.15658027560286372,
          2.1696839644400283
        ],
        "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": [
          0.3525439775480764,
          -0.8462461114583845,
          -0.05514420510230151,
          -0.23210216953202015,
          -0.04914768267603753,
          -1.3380024224536684,
          0.4794743167277417
        ],
        "joint_pos_r": [
          -0.6964500413852548,
          -0.8621459599173829,
          0.1589746823296777,
          -1.205334960033286,
          1.0056679210333814,
          0.500965252806925,
          -1.264450129345085
        ],
        "eef_pose_l": [
          557.5213934131274,
          401.4990909634272,
          40.203339937866474,
          1.7050799491637827,
          -0.2024008676256254,
          0.693086200482312
        ],
        "eef_pose_r": [
          532.5326678539612,
          -212.05842083966402,
          -37.04921327228891,
          1.5366953409064017,
          -0.16136628707055886,
          2.2028343037834226
        ],
        "joint_status_l": {
          "velocity": [
            -3.502531598087444e-09,
            -6.995470869242126e-08,
            4.904965322793942e-09,
            1.3408629762068358e-07,
            -2.9412028368369647e-09,
            -8.347811331077537e-08,
            2.140954080687152e-09
          ],
          "torque": [
            -40.1220703125,
            4.72412109375,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -2.255859375,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.13808229748502043,
            0.6906620584734569,
            0.0411328500313779,
            1.9448084722419878,
            2.640991908843482,
            -0.10972575775980431,
            -1.8471556866010985
          ],
          "torque": [
            29.71435546875,
            11.08154296875,
            13.58642578125,
            -2.008056640625,
            1.966552734375,
            3.446044921875,
            -0.7818603515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.4,
            -8.1,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.4,
            -8.1,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -16.9,
            -0.1,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -16.9,
            -0.1,
            1.0,
            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": 234,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775480764,
          -0.8462461114583845,
          -0.05514420510230151,
          -0.23210216953202015,
          -0.04914768267603753,
          -1.3380024224536684,
          0.4794743167277417
        ],
        "act_joint_pos_r": [
          -0.7073380183071466,
          -0.8147721142750123,
          0.1641112783875104,
          -1.2165268574889943,
          1.0134968543890066,
          0.4935176810441838,
          -1.2860574962577884
        ],
        "act_eef_pose_l": [
          557.5213934131274,
          401.4990909634272,
          40.203339937866474,
          1.7050799491637827,
          -0.2024008676256254,
          0.693086200482312
        ],
        "act_eef_pose_r": [
          529.3206644042035,
          -236.71874812687867,
          -40.603056653079875,
          1.561184966031858,
          -0.13275363044903643,
          2.164704989732041
        ],
        "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": [
          0.35254397754398936,
          -0.8462461115400146,
          -0.05514420509657787,
          -0.2321021693755546,
          -0.0491476826794696,
          -1.3380024225510778,
          0.47947431673024
        ],
        "joint_pos_r": [
          -0.69738459444196,
          -0.8579823970887096,
          0.15938957715804758,
          -1.204036141994484,
          1.0090919783182704,
          0.5003094624884568,
          -1.268008096533177
        ],
        "eef_pose_l": [
          557.5213934188465,
          401.49909095557416,
          40.2033399356298,
          1.7050799491563886,
          -0.20240086762682094,
          0.6930862004620433
        ],
        "eef_pose_r": [
          532.8342983282064,
          -215.21015925150098,
          -37.73378656290697,
          1.539667796235077,
          -0.15880618419021006,
          2.1961589816173333
        ],
        "joint_status_l": {
          "velocity": [
            -3.0611069234964816e-09,
            -6.113864969847782e-08,
            4.286848653833886e-09,
            1.1718848114128377e-07,
            -2.570499368914625e-09,
            -7.295675175100769e-08,
            1.871391930308164e-09
          ],
          "torque": [
            -40.166015625,
            4.7900390625,
            -7.611083984375,
            1.629638671875,
            -6.61376953125,
            -2.2540283203125,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.0749380738355185,
            4.6665729106685205,
            0.5099286932390701,
            -1.3489574880320987,
            0.47571258524659044,
            -0.7334907628280263,
            -1.9492776793850197
          ],
          "torque": [
            26.1181640625,
            12.919921875,
            14.788818359375,
            -4.302978515625,
            1.3934326171875,
            3.629150390625,
            -0.81756591796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.9,
            -16.2,
            -8.1,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -16.2,
            -8.1,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.7,
            -17.6,
            0.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.7,
            -17.6,
            0.0,
            1.1,
            0.1,
            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": 236,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397754398936,
          -0.8462461115400146,
          -0.05514420509657787,
          -0.2321021693755546,
          -0.0491476826794696,
          -1.3380024225510778,
          0.47947431673024
        ],
        "act_joint_pos_r": [
          -0.7124933322524437,
          -0.7940677323315757,
          0.16673920673843634,
          -1.2323144424075214,
          0.993515126154314,
          0.4873822761936641,
          -1.2935167510031313
        ],
        "act_eef_pose_l": [
          557.5213934188465,
          401.49909095557416,
          40.2033399356298,
          1.7050799491563886,
          -0.20240086762682094,
          0.6930862004620433
        ],
        "act_eef_pose_r": [
          524.6942644042035,
          -241.94194812687866,
          -41.202256653079985,
          1.571894482339486,
          -0.1057459773958864,
          2.167675110479708
        ],
        "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": [
          0.35254397753828975,
          -0.8462461116538516,
          -0.055144205088596,
          -0.23210216915735618,
          -0.049147682684255775,
          -1.3380024226869205,
          0.4794743167337242
        ],
        "joint_pos_r": [
          -0.699982774180129,
          -0.8469360422455859,
          0.16064744851332244,
          -1.2085919010026496,
          1.0071471063892554,
          0.49817271302407073,
          -1.272456974810591
        ],
        "eef_pose_l": [
          557.5213934268221,
          401.4990909446228,
          40.203339932510744,
          1.7050799491460777,
          -0.20240086762848813,
          0.6930862004337771
        ],
        "eef_pose_r": [
          531.5012780892932,
          -220.36610832159013,
          -38.478555289896974,
          1.5456525776358436,
          -0.14957839637751943,
          2.1900673445296643
        ],
        "joint_status_l": {
          "velocity": [
            -2.445599278644295e-09,
            -4.884448401298869e-08,
            3.424815986363683e-09,
            9.36237753990099e-08,
            -2.0536350398003833e-09,
            -5.828759697124042e-08,
            1.4948042803553108e-09
          ],
          "torque": [
            -40.1220703125,
            4.9951171875,
            -7.611083984375,
            1.6357421875,
            -6.6119384765625,
            -2.259521484375,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.3511004232329427,
            5.709609074795452,
            0.6578904848695277,
            -2.5619589107872542,
            -1.47221044484791,
            -1.1653328080303282,
            -2.274388749283318
          ],
          "torque": [
            24.609375,
            10.18798828125,
            16.85791015625,
            -8.111572265625,
            -0.5712890625,
            3.3123779296875,
            -0.76080322265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.0,
            -8.9,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.3,
            -16.0,
            -8.9,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -16.7,
            -0.8,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -16.7,
            -0.8,
            1.1,
            0.1,
            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": 129,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397753828975,
          -0.8462461116538516,
          -0.055144205088596,
          -0.23210216915735618,
          -0.049147682684255775,
          -1.3380024226869205,
          0.4794743167337242
        ],
        "act_joint_pos_r": [
          -0.7259823980683854,
          -0.752665333506372,
          0.1725202508895045,
          -1.2659615821401133,
          0.8998776459027651,
          0.4696771678558008,
          -1.247696875168772
        ],
        "act_eef_pose_l": [
          557.5213934268221,
          401.4990909446228,
          40.203339932510744,
          1.7050799491460777,
          -0.20240086762848813,
          0.6930862004337771
        ],
        "act_eef_pose_r": [
          511.4926644042035,
          -247.87234812687865,
          -45.52225665308015,
          1.6059313893010436,
          -0.06773205804184555,
          2.1975968180521352
        ],
        "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": [
          0.352543977534009,
          -0.8462461117393493,
          -0.05514420508260119,
          -0.23210216899347774,
          -0.04914768268785045,
          -1.338002422788945,
          0.4794743167363408
        ],
        "joint_pos_r": [
          -0.7026943874714756,
          -0.8366019062034085,
          0.1619110557515756,
          -1.214315466563082,
          0.9985007691717166,
          0.495396220864277,
          -1.2720806923585062
        ],
        "eef_pose_l": [
          557.5213934328121,
          401.49909093639747,
          40.2033399301682,
          1.7050799491383333,
          -0.20240086762973997,
          0.6930862004125474
        ],
        "eef_pose_r": [
          529.7493057167745,
          -223.5375941921636,
          -39.19029443808466,
          1.5512884417752093,
          -0.14137196554346357,
          2.1892416542293147
        ],
        "joint_status_l": {
          "velocity": [
            -1.9833024111903796e-09,
            -3.9610981161786185e-08,
            2.777389429553523e-09,
            7.592526607425043e-08,
            -1.6654455592401973e-09,
            -4.7268855496440665e-08,
            1.212363542890671e-09
          ],
          "torque": [
            -40.18798828125,
            4.81201171875,
            -7.611083984375,
            1.629638671875,
            -6.61376953125,
            -2.2467041015625,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.5150309675927573,
            9.064882496862658,
            1.1457592825325769,
            -5.577615979330375,
            -10.65098317909019,
            -2.777575804696397,
            2.6333745892603844
          ],
          "torque": [
            21.5478515625,
            15.146484375,
            13.70849609375,
            -10.44921875,
            -1.83837890625,
            3.5357666015625,
            0.6536865234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.2,
            -8.1,
            1.4,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -16.2,
            -8.1,
            1.4,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -6.5,
            -15.3,
            5.0,
            0.7,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -6.5,
            -15.3,
            5.0,
            0.7,
            -0.1,
            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": 97,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.352543977534009,
          -0.8462461117393493,
          -0.05514420508260119,
          -0.23210216899347774,
          -0.04914768268785045,
          -1.338002422788945,
          0.4794743167363408
        ],
        "act_joint_pos_r": [
          -0.7488798001785071,
          -0.7147389241124131,
          0.17897050228562575,
          -1.3189704690981447,
          0.9179674579655437,
          0.4667653469439881,
          -1.281691150136808
        ],
        "act_eef_pose_l": [
          557.5213934328121,
          401.49909093639747,
          40.2033399301682,
          1.7050799491383333,
          -0.20240086762973997,
          0.6930862004125474
        ],
        "act_eef_pose_r": [
          498.1846644042035,
          -252.51874812687865,
          -45.59185665307996,
          1.6118673296004646,
          -0.06278735508426155,
          2.2015614398442254
        ],
        "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": [
          0.35254397753099004,
          -0.8462461117996467,
          -0.05514420507837335,
          -0.2321021688779023,
          -0.04914768269038558,
          -1.338002422860898,
          0.4794743167381861
        ],
        "joint_pos_r": [
          -0.7063412972875835,
          -0.8260492424720114,
          0.1633411242209851,
          -1.2225327929599312,
          0.9897423953071031,
          0.49266886475272365,
          -1.2716307510536318
        ],
        "eef_pose_l": [
          557.5213934370369,
          401.49909093059665,
          40.203339928516016,
          1.705079949132872,
          -0.20240086763062312,
          0.6930862003975757
        ],
        "eef_pose_r": [
          527.2356259591122,
          -226.31045241706238,
          -39.94355661165713,
          1.5569508407542212,
          -0.13385737567467335,
          2.190040676352863
        ],
        "joint_status_l": {
          "velocity": [
            -1.6573409311604337e-09,
            -3.309974516696457e-08,
            2.3208102106764272e-09,
            6.344369474220457e-08,
            -1.3916090502164025e-09,
            -3.949729432406457e-08,
            1.0129674876679928e-09
          ],
          "torque": [
            -40.14404296875,
            4.81201171875,
            -7.60498046875,
            1.629638671875,
            -6.6156005859375,
            -1.8914794921875,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.5940228187593135,
            12.021159837679818,
            1.6879230483517471,
            -10.414961850047533,
            -7.751464615660453,
            -2.7974974155675625,
            -1.0864910566432684
          ],
          "torque": [
            21.15234375,
            15.19775390625,
            18.817138671875,
            -16.259765625,
            -0.692138671875,
            3.7408447265625,
            0.74615478515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.7,
            -17.4,
            -9.5,
            1.5,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.4,
            -9.5,
            1.5,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -16.6,
            -1.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -16.6,
            -1.0,
            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": 103,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397753099004,
          -0.8462461117996467,
          -0.05514420507837335,
          -0.2321021688779023,
          -0.04914768269038558,
          -1.338002422860898,
          0.4794743167381861
        ],
        "act_joint_pos_r": [
          -0.7605292181890148,
          -0.6848066777654942,
          0.18475794051016067,
          -1.3626846639846726,
          0.8959966971939934,
          0.4580716408957494,
          -1.287005573716744
        ],
        "act_eef_pose_l": [
          557.5213934370369,
          401.49909093059665,
          40.203339928516016,
          1.705079949132872,
          -0.20240086763062312,
          0.6930862003975757
        ],
        "act_eef_pose_r": [
          487.2718644042035,
          -253.05554812687865,
          -43.500656653079886,
          1.6199005276917038,
          -0.04523593888916219,
          2.220886177050005
        ],
        "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": [
          0.35254397752808925,
          -0.8462461118575837,
          -0.05514420507431101,
          -0.23210216876685097,
          -0.049147682692821486,
          -1.3380024229300347,
          0.4794743167399593
        ],
        "joint_pos_r": [
          -0.7158956337758945,
          -0.8010957515194854,
          0.1669810026153512,
          -1.2456793066405027,
          0.9734226195651456,
          0.4867134129915537,
          -1.274110171098282
        ],
        "eef_pose_l": [
          557.521393441096,
          401.49909092502287,
          40.20333992692861,
          1.7050799491276243,
          -0.2024008676314715,
          0.6930862003831896
        ],
        "eef_pose_r": [
          520.6257160850208,
          -231.8795342322898,
          -41.23061228241579,
          1.5685201015997792,
          -0.11832271218521052,
          2.1933691679024463
        ],
        "joint_status_l": {
          "velocity": [
            -1.3438139490062895e-09,
            -2.6842528200177185e-08,
            1.8821055824957966e-09,
            5.1450399496388854e-08,
            -1.1285417045314716e-09,
            -3.2031266528065316e-08,
            8.215650382226158e-10
          ],
          "torque": [
            -40.13671875,
            4.84130859375,
            -7.60498046875,
            1.605224609375,
            -6.6119384765625,
            -1.86767578125,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.820284949912157,
            12.558849561963292,
            1.919852669611588,
            -12.636205908197695,
            -8.361752999363148,
            -3.093220156694887,
            -1.3926624084117378
          ],
          "torque": [
            21.68701171875,
            12.26806640625,
            16.070556640625,
            -9.857177734375,
            -1.2158203125,
            3.6328125,
            -0.498046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.4,
            -17.7,
            -9.6,
            1.5,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -1.4,
            -17.7,
            -9.6,
            1.5,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -5.9,
            -17.0,
            -0.1,
            1.2,
            0.0,
            -0.1
          ],
          "actual_contact_FT": [
            -5.9,
            -17.0,
            -0.1,
            1.2,
            0.0,
            -0.1
          ]
        },
        "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": 85,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397752808925,
          -0.8462461118575837,
          -0.05514420507431101,
          -0.23210216876685097,
          -0.049147682692821486,
          -1.3380024229300347,
          0.4794743167399593
        ],
        "act_joint_pos_r": [
          -0.7648413649141288,
          -0.6749930559064433,
          0.18705906861382895,
          -1.3701439803683981,
          0.8573692858941118,
          0.46641767532643097,
          -1.2556087139219962
        ],
        "act_eef_pose_l": [
          557.521393441096,
          401.49909092502287,
          40.20333992692861,
          1.7050799491276243,
          -0.2024008676314715,
          0.6930862003831896
        ],
        "act_eef_pose_r": [
          482.8014644042035,
          -252.91394812687867,
          -42.54465665307998,
          1.6183662483595969,
          -0.042848938855600475,
          2.2378068581583404
        ],
        "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": [
          0.3525439775268516,
          -0.8462461118823059,
          -0.055144205072577605,
          -0.2321021687194651,
          -0.04914768269386089,
          -1.338002422959535,
          0.479474316740716
        ],
        "joint_pos_r": [
          -0.725241089985979,
          -0.7768690173961038,
          0.17075329639006742,
          -1.2698478724521747,
          0.9545359499001818,
          0.48167081459358707,
          -1.2740066851647538
        ],
        "eef_pose_l": [
          557.5213934428282,
          401.49909092264454,
          40.20333992625115,
          1.7050799491253843,
          -0.20240086763183326,
          0.693086200377051
        ],
        "eef_pose_r": [
          513.6799444988214,
          -236.36512049759915,
          -41.897110337452375,
          1.5784758868335529,
          -0.10363303995390154,
          2.1998418564683524
        ],
        "joint_status_l": {
          "velocity": [
            -1.2101430968414206e-09,
            -2.4172663870558608e-08,
            1.694866469392764e-09,
            4.633293748668166e-08,
            -1.0162981567418683e-09,
            -2.8844482358181267e-08,
            7.398526236102043e-10
          ],
          "torque": [
            -40.13671875,
            4.8779296875,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -1.761474609375,
            0.3131103515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.276703557611228,
            11.002279346000066,
            1.7609714630890672,
            -10.831660192209824,
            -10.493690217806773,
            -1.6472904566180446,
            1.9869222930779529
          ],
          "torque": [
            23.03466796875,
            11.9091796875,
            15.997314453125,
            -10.009765625,
            -1.5216064453125,
            3.834228515625,
            0.48797607421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.7,
            -17.4,
            -8.1,
            1.5,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.7,
            -17.4,
            -8.1,
            1.5,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.5,
            -16.2,
            -1.0,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -4.5,
            -16.2,
            -1.0,
            1.0,
            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": 49,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775268516,
          -0.8462461118823059,
          -0.055144205072577605,
          -0.2321021687194651,
          -0.04914768269386089,
          -1.338002422959535,
          0.479474316740716
        ],
        "act_joint_pos_r": [
          -0.7753478464975485,
          -0.6594533969820101,
          0.19082170627192216,
          -1.3947663368574836,
          0.8030791038462892,
          0.47239170881371495,
          -1.2228630268825535
        ],
        "act_eef_pose_l": [
          557.5213934428282,
          401.49909092264454,
          40.20333992625115,
          1.7050799491253843,
          -0.20240086763183326,
          0.693086200377051
        ],
        "act_eef_pose_r": [
          472.9606644042035,
          -249.13874812687865,
          -41.93585665308001,
          1.6201204999302175,
          -0.03531167492861508,
          2.2708182466572517
        ],
        "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": [
          0.35254397752487016,
          -0.8462461119218802,
          -0.05514420506980278,
          -0.2321021686436107,
          -0.04914768269552475,
          -1.3380024230067593,
          0.47947431674192714
        ],
        "joint_pos_r": [
          -0.7328532809005027,
          -0.7579534846924427,
          0.17385494006781152,
          -1.2890118673670123,
          0.9342012760064635,
          0.47932108114112726,
          -1.2688509243365789
        ],
        "eef_pose_l": [
          557.5213934457926,
          401.49909091857404,
          40.20333992509185,
          1.7050799491215523,
          -0.20240086763245307,
          0.6930862003665448
        ],
        "eef_pose_r": [
          507.7585392530221,
          -239.23569386440067,
          -42.15924593915537,
          1.585280207207346,
          -0.09253867251044261,
          2.2081723007289313
        ],
        "joint_status_l": {
          "velocity": [
            -9.960920976936904e-10,
            -1.9898749314961606e-08,
            1.3952172750464342e-09,
            3.814082383257755e-08,
            -8.366085602062867e-10,
            -2.3744561872263148e-08,
            6.088463067044358e-10
          ],
          "torque": [
            -40.13671875,
            4.8046875,
            -7.611083984375,
            1.6357421875,
            -6.61376953125,
            -1.8988037109375,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.589277730969066,
            10.637695730662422,
            1.8323567075717584,
            -11.421145856278514,
            -14.160776943508147,
            -0.7483501399532244,
            4.966546444576281
          ],
          "torque": [
            20.7861328125,
            13.42529296875,
            16.8212890625,
            -11.53564453125,
            -3.599853515625,
            3.9715576171875,
            0.76904296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.0,
            -9.2,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.0,
            -9.2,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -16.5,
            0.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -16.5,
            0.0,
            1.1,
            0.1,
            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": 97,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397752487016,
          -0.8462461119218802,
          -0.05514420506980278,
          -0.2321021686436107,
          -0.04914768269552475,
          -1.3380024230067593,
          0.47947431674192714
        ],
        "act_joint_pos_r": [
          -0.7883212174870193,
          -0.6509789694118074,
          0.1933624626835104,
          -1.4202777361586945,
          0.7524073110414826,
          0.47983538147232563,
          -1.1879406243271293
        ],
        "act_eef_pose_l": [
          557.5213934457926,
          401.49909091857404,
          40.20333992509185,
          1.7050799491215523,
          -0.20240086763245307,
          0.6930862003665448
        ],
        "act_eef_pose_r": [
          462.1046644042035,
          -241.54354812687865,
          -42.49665665307998,
          1.6199333542114056,
          -0.03921419595435354,
          2.3090659030852767
        ],
        "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": [
          0.3525439775230151,
          -0.8462461119589304,
          -0.05514420506720495,
          -0.23210216857259452,
          -0.04914768269708248,
          -1.3380024230509713,
          0.4794743167430612
        ],
        "joint_pos_r": [
          -0.7440353514336413,
          -0.7355845234738846,
          0.177885737810082,
          -1.315726463435507,
          0.8979483219178616,
          0.47906916151855455,
          -1.253316622869203
        ],
        "eef_pose_l": [
          557.5213934481965,
          401.49909091527303,
          40.20333992415169,
          1.705079949118444,
          -0.20240086763295556,
          0.6930862003580245
        ],
        "eef_pose_r": [
          498.752115135737,
          -240.2248774256311,
          -42.39876535075956,
          1.5919586193890638,
          -0.0809367912363768,
          2.2275086388755034
        ],
        "joint_status_l": {
          "velocity": [
            -7.958078640513122e-10,
            -1.589750553421254e-08,
            1.1146639167236572e-09,
            3.047140317846697e-08,
            -6.684097719755755e-10,
            -1.8969714687955275e-08,
            4.867217739956686e-10
          ],
          "torque": [
            -40.10009765625,
            4.8046875,
            -7.60498046875,
            1.629638671875,
            -6.6119384765625,
            -2.0526123046875,
            0.3167724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.782732474610363,
            9.137130353449763,
            1.6714369899313297,
            -11.29120443783016,
            -15.717965598033956,
            0.08274931444640643,
            7.060399607189183
          ],
          "torque": [
            21.54052734375,
            13.0078125,
            17.19970703125,
            -8.160400390625,
            -1.109619140625,
            5.599365234375,
            0.68023681640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.0,
            -8.3,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.0,
            -8.3,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -16.8,
            -0.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -16.8,
            -0.5,
            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": -30,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775230151,
          -0.8462461119589304,
          -0.05514420506720495,
          -0.23210216857259452,
          -0.04914768269708248,
          -1.3380024230509713,
          0.4794743167430612
        ],
        "act_joint_pos_r": [
          -0.7949276073124015,
          -0.6441620057942214,
          0.1956633620514326,
          -1.4405760820606623,
          0.6844231151120734,
          0.4927481623233933,
          -1.126880113162294
        ],
        "act_eef_pose_l": [
          557.5213934481965,
          401.49909091527303,
          40.20333992415169,
          1.705079949118444,
          -0.20240086763295556,
          0.6930862003580245
        ],
        "act_eef_pose_r": [
          452.2126644042035,
          -233.56194812687866,
          -40.76625665308006,
          1.6155093644091145,
          -0.04929006973171423,
          2.3539083409238453
        ],
        "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": [
          0.35254397752153305,
          -0.8462461119885302,
          -0.05514420506512951,
          -0.2321021685158586,
          -0.04914768269832697,
          -1.338002423086293,
          0.47947431674396707
        ],
        "joint_pos_r": [
          -0.749509025850032,
          -0.725545878888774,
          0.17979807400812156,
          -1.3289878704628462,
          0.8766232839427173,
          0.4800866580193046,
          -1.2415368409948615
        ],
        "eef_pose_l": [
          557.5213934502702,
          401.49909091242546,
          40.20333992334068,
          1.7050799491157629,
          -0.20240086763338908,
          0.6930862003506749
        ],
        "eef_pose_r": [
          494.0370925002939,
          -239.82044753309927,
          -42.33492674708782,
          1.5942544365072469,
          -0.07687147887210417,
          2.239814749719677
        ],
        "joint_status_l": {
          "velocity": [
            -6.359357485052897e-10,
            -1.270095140171179e-08,
            8.905098880518381e-10,
            2.4344082305560732e-08,
            -5.33961763693469e-10,
            -1.5155876553762937e-08,
            3.885780586188048e-10
          ],
          "torque": [
            -40.13671875,
            4.86328125,
            -7.611083984375,
            1.629638671875,
            -6.6119384765625,
            -2.193603515625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.905062130861282,
            8.789199070641907,
            1.713400574628654,
            -12.051171422262641,
            -20.757006038541803,
            1.3674021354712629,
            12.382561401789616
          ],
          "torque": [
            20.0537109375,
            11.60888671875,
            16.61376953125,
            -10.97412109375,
            -1.7962646484375,
            6.1541748046875,
            1.7120361328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.6,
            -16.1,
            -9.0,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.6,
            -16.1,
            -9.0,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -6.2,
            -16.9,
            1.1,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -6.2,
            -16.9,
            1.1,
            1.0,
            0.0,
            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": 24,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397752153305,
          -0.8462461119885302,
          -0.05514420506512951,
          -0.2321021685158586,
          -0.04914768269832697,
          -1.338002423086293,
          0.47947431674396707
        ],
        "act_joint_pos_r": [
          -0.7980140887477538,
          -0.6450689401234708,
          0.19592057446319835,
          -1.4485225509509807,
          0.6156293028669029,
          0.5058024943518163,
          -1.0740412901357657
        ],
        "act_eef_pose_l": [
          557.5213934502702,
          401.49909091242546,
          40.20333992334068,
          1.7050799491157629,
          -0.20240086763338908,
          0.6930862003506749
        ],
        "act_eef_pose_r": [
          444.74306440420355,
          -225.63874812687865,
          -40.87105665308013,
          1.6144712428379602,
          -0.04848492242465121,
          2.3965054067668
        ],
        "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": [
          0.352543977520565,
          -0.8462461120078634,
          -0.05514420506377393,
          -0.23210216847880152,
          -0.04914768269913982,
          -1.3380024231093632,
          0.4794743167445586
        ],
        "joint_pos_r": [
          -0.7554121082268591,
          -0.7153424452531916,
          0.18181239140042718,
          -1.3435121760463844,
          0.8484042950725014,
          0.4824408669574841,
          -1.2240171506706568
        ],
        "eef_pose_l": [
          557.521393451625,
          401.49909091056554,
          40.20333992281104,
          1.705079949114012,
          -0.20240086763367235,
          0.6930862003458753
        ],
        "eef_pose_r": [
          488.5309479507673,
          -238.5422784370751,
          -42.11996706926493,
          1.5959834937864767,
          -0.0731832016554955,
          2.2565039204735666
        ],
        "joint_status_l": {
          "velocity": [
            -5.31574784190525e-10,
            -1.0612843936996796e-08,
            7.441269822550112e-10,
            2.0341950346391968e-08,
            -4.461986335968504e-10,
            -1.2663647908084386e-08,
            3.2462921240039577e-10
          ],
          "torque": [
            -40.18798828125,
            4.79736328125,
            -7.60498046875,
            1.629638671875,
            -6.6119384765625,
            -2.2943115234375,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.6008782006072835,
            7.589314719137263,
            1.5236388334538553,
            -11.340786011091453,
            -25.138957724279543,
            2.522981347230502,
            16.19691523528921
          ],
          "torque": [
            19.95849609375,
            13.7109375,
            17.51708984375,
            -10.089111328125,
            -4.74609375,
            6.80419921875,
            0.72601318359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.2,
            -8.4,
            1.4,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -16.2,
            -8.4,
            1.4,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -16.7,
            1.2,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -16.7,
            1.2,
            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": 1,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.352543977520565,
          -0.8462461120078634,
          -0.05514420506377393,
          -0.23210216847880152,
          -0.04914768269913982,
          -1.3380024231093632,
          0.4794743167445586
        ],
        "act_joint_pos_r": [
          -0.8031535055352705,
          -0.662233743246758,
          0.19315848510482989,
          -1.4565971749357673,
          0.59894088161743,
          0.5021265623645521,
          -1.0717086461592462
        ],
        "act_eef_pose_l": [
          557.521393451625,
          401.49909091056554,
          40.20333992281104,
          1.705079949114012,
          -0.20240086763367235,
          0.6930862003458753
        ],
        "act_eef_pose_r": [
          440.2550644042035,
          -213.64674812687866,
          -43.8494566530801,
          1.6136167108860977,
          -0.05185973035594921,
          2.4223127978568693
        ],
        "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": [
          0.352543977519756,
          -0.846246112024018,
          -0.0551442050626412,
          -0.23210216844783646,
          -0.04914768269981905,
          -1.3380024231286407,
          0.47947431674505314
        ],
        "joint_pos_r": [
          -0.7639068654098049,
          -0.7035323609602723,
          0.18424213670168518,
          -1.3640565266026223,
          0.8029678910811002,
          0.48654137018772753,
          -1.19546581093476
        ],
        "eef_pose_l": [
          557.5213934527568,
          401.4990909090116,
          40.20333992236843,
          1.7050799491125486,
          -0.20240086763390894,
          0.6930862003418642
        ],
        "eef_pose_r": [
          480.1860041557828,
          -234.90418165242863,
          -42.07003013267166,
          1.5981757327146333,
          -0.0685266550299705,
          2.28504606662013
        ],
        "joint_status_l": {
          "velocity": [
            -4.440892098500626e-10,
            -8.86757334228605e-09,
            6.217804049413189e-10,
            1.6997736551616072e-08,
            -3.728684028203588e-10,
            -1.0581757692307292e-08,
            2.7133850721838826e-10
          ],
          "torque": [
            -40.1953125,
            4.85595703125,
            -7.60498046875,
            1.62353515625,
            -6.6119384765625,
            -2.398681640625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.238512125317229,
            4.460119168876453,
            0.962937227224181,
            -9.99409525989492,
            -22.034267156104903,
            1.683151113208492,
            13.365379604955763
          ],
          "torque": [
            18.8525390625,
            8.9794921875,
            16.1376953125,
            -9.771728515625,
            -1.490478515625,
            5.8575439453125,
            0.87158203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.6,
            -17.3,
            -8.2,
            1.5,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.6,
            -17.3,
            -8.2,
            1.5,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -15.7,
            -2.1,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -15.7,
            -2.1,
            1.0,
            0.1,
            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": -76,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.352543977519756,
          -0.846246112024018,
          -0.0551442050626412,
          -0.23210216844783646,
          -0.04914768269981905,
          -1.3380024231286407,
          0.47947431674505314
        ],
        "act_joint_pos_r": [
          -0.79988204204419,
          -0.6848994766453602,
          0.18926459089198072,
          -1.453183037903818,
          0.5959185538759644,
          0.5099956271524385,
          -1.0655253186113927
        ],
        "act_eef_pose_l": [
          557.5213934527568,
          401.4990909090116,
          40.20333992236843,
          1.7050799491125486,
          -0.20240086763390894,
          0.6930862003418642
        ],
        "act_eef_pose_r": [
          440.0110644042035,
          -202.48114812687865,
          -42.85905665307996,
          1.597711781374489,
          -0.06386190953258306,
          2.4426275289339054
        ],
        "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": [
          0.3525439775189788,
          -0.8462461120395405,
          -0.05514420506155281,
          -0.2321021684180836,
          -0.049147682700471686,
          -1.338002423147164,
          0.4794743167455282
        ],
        "joint_pos_r": [
          -0.7715177679461216,
          -0.6971745318952669,
          0.1857006420753351,
          -1.3823717527395503,
          0.7616817299625762,
          0.4903511457874469,
          -1.1700491534541864
        ],
        "eef_pose_l": [
          557.5213934538443,
          401.4990909075182,
          40.203339921943126,
          1.7050799491111424,
          -0.20240086763413612,
          0.6930862003380095
        ],
        "eef_pose_r": [
          472.4288896300357,
          -229.4188640002595,
          -42.33520622030005,
          1.5992653979056337,
          -0.06606090361845716,
          2.3143749332391836
        ],
        "joint_status_l": {
          "velocity": [
            -3.601563491884008e-10,
            -7.191580664311914e-09,
            5.042632977847461e-10,
            1.3784529073745944e-08,
            -3.023692407566614e-10,
            -8.58157989114261e-09,
            2.2026824808563106e-10
          ],
          "torque": [
            -40.14404296875,
            4.85595703125,
            -7.611083984375,
            1.629638671875,
            -6.6119384765625,
            -2.5030517578125,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.063251256824273,
            1.3256668685359685,
            0.3848951203229145,
            -7.647393249934353,
            -17.901895029184267,
            2.121541415899486,
            11.28824123414418
          ],
          "torque": [
            19.7314453125,
            9.83642578125,
            16.741943359375,
            -9.619140625,
            -1.812744140625,
            6.0552978515625,
            0.84686279296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.5,
            -9.8,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.5,
            -9.8,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -16.9,
            -3.0,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -16.9,
            -3.0,
            1.0,
            0.1,
            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": -72,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775189788,
          -0.8462461120395405,
          -0.05514420506155281,
          -0.2321021684180836,
          -0.049147682700471686,
          -1.338002423147164,
          0.4794743167455282
        ],
        "act_joint_pos_r": [
          -0.7956895049538888,
          -0.6947572420740726,
          0.1875276729536129,
          -1.447872154558526,
          0.5869651100812346,
          0.5158217430931018,
          -1.0542746100606237
        ],
        "act_eef_pose_l": [
          557.5213934538443,
          401.4990909075182,
          40.203339921943126,
          1.7050799491111424,
          -0.20240086763413612,
          0.6930862003380095
        ],
        "act_eef_pose_r": [
          440.6630644042035,
          -198.19714812687866,
          -41.83665665308013,
          1.5905418503455626,
          -0.06772908749575825,
          2.4529725589801985
        ],
        "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": [
          0.35254397751860267,
          -0.8462461120470549,
          -0.05514420506102592,
          -0.23210216840368042,
          -0.04914768270078761,
          -1.3380024231561312,
          0.4794743167457582
        ],
        "joint_pos_r": [
          -0.7766360400414706,
          -0.6954269239373786,
          0.1862734286212054,
          -1.3954490969610973,
          0.7298260606430934,
          0.49440323551040255,
          -1.1496364967655583
        ],
        "eef_pose_l": [
          557.5213934543708,
          401.4990909067953,
          40.20333992173721,
          1.7050799491104618,
          -0.20240086763424633,
          0.6930862003361437
        ],
        "eef_pose_r": [
          466.5737856342994,
          -223.8651422022465,
          -42.37215073493087,
          1.5982021279408856,
          -0.06585072562171133,
          2.339175662743207
        ],
        "joint_status_l": {
          "velocity": [
            -3.19300141882195e-10,
            -6.3797855887059995e-09,
            4.4736436777270683e-10,
            1.22291066162461e-08,
            -2.682298827494378e-10,
            -7.613465413669473e-09,
            1.9539925233402755e-10
          ],
          "torque": [
            -40.13671875,
            4.6728515625,
            -7.60498046875,
            1.617431640625,
            -6.6119384765625,
            -2.200927734375,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.0577135215242848,
            0.07232350816899213,
            0.13545439288598082,
            -5.6615232428178786,
            -15.428527620582777,
            2.3131305967911686,
            10.29878001785356
          ],
          "torque": [
            20.2587890625,
            11.806640625,
            16.2353515625,
            -8.953857421875,
            -1.3531494140625,
            6.448974609375,
            0.5804443359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.5,
            -9.0,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.5,
            -9.0,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -17.1,
            0.4,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -17.1,
            0.4,
            1.1,
            0.1,
            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": -34,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751860267,
          -0.8462461120470549,
          -0.05514420506102592,
          -0.23210216840368042,
          -0.04914768270078761,
          -1.3380024231561312,
          0.4794743167457582
        ],
        "act_joint_pos_r": [
          -0.7840665673060698,
          -0.7109387415572703,
          0.18468444133031892,
          -1.4380052612029506,
          0.5733389827577904,
          0.5319961902082683,
          -1.0472535025935887
        ],
        "act_eef_pose_l": [
          557.5213934543708,
          401.4990909067953,
          40.20333992173721,
          1.7050799491104618,
          -0.20240086763424633,
          0.6930862003361437
        ],
        "act_eef_pose_r": [
          442.7174644042035,
          -191.16674812687864,
          -37.01265665308006,
          1.570450105822553,
          -0.05933603138313345,
          2.472419812391441
        ],
        "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": [
          0.35254397751804345,
          -0.8462461120582225,
          -0.055144205060242896,
          -0.23210216838227463,
          -0.04914768270125716,
          -1.3380024231694576,
          0.4794743167460999
        ],
        "joint_pos_r": [
          -0.7787030839042045,
          -0.6977485336813661,
          0.18609404861359885,
          -1.4044927939586531,
          0.6990306169667803,
          0.5011653582543835,
          -1.129394968767697
        ],
        "eef_pose_l": [
          557.5213934551531,
          401.49909090572095,
          40.20333992143125,
          1.7050799491094506,
          -0.20240086763440984,
          0.6930862003333704
        ],
        "eef_pose_r": [
          461.9452048989978,
          -217.44743577317226,
          -41.467088289166384,
          1.593086351688503,
          -0.06510484610337695,
          2.36479317429533
        ],
        "joint_status_l": {
          "velocity": [
            -2.589040093425865e-10,
            -5.1736392947532295e-09,
            3.627653732962699e-10,
            9.917400234371598e-09,
            -2.1754820167529942e-10,
            -6.174616373755271e-09,
            1.5853984791647235e-10
          ],
          "torque": [
            -40.166015625,
            4.63623046875,
            -7.60498046875,
            1.629638671875,
            -6.6119384765625,
            -2.13134765625,
            0.3131103515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5792391236560945,
            -1.4245004372028802,
            -0.15223309671918983,
            -3.619239718613443,
            -13.57429614210659,
            3.3296316487834154,
            8.871016710152446
          ],
          "torque": [
            20.6396484375,
            6.09375,
            10.44921875,
            -9.539794921875,
            -1.0015869140625,
            6.1102294921875,
            0.8258056640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.3,
            -8.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -16.3,
            -8.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.5,
            -17.3,
            1.6,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.5,
            -17.3,
            1.6,
            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": -91,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751804345,
          -0.8462461120582225,
          -0.055144205060242896,
          -0.23210216838227463,
          -0.04914768270125716,
          -1.3380024231694576,
          0.4794743167460999
        ],
        "act_joint_pos_r": [
          -0.7721958404547062,
          -0.7277881300303828,
          0.18180591409843258,
          -1.4252291744162446,
          0.5831435263782233,
          0.5377461132016464,
          -1.0493379051008709
        ],
        "act_eef_pose_l": [
          557.5213934551531,
          401.49909090572095,
          40.20333992143125,
          1.7050799491094506,
          -0.20240086763440984,
          0.6930862003333704
        ],
        "act_eef_pose_r": [
          447.73346440420346,
          -186.55314812687865,
          -33.401456653080004,
          1.555704322141949,
          -0.06107720375403372,
          2.4745995964601404
        ],
        "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": [
          0.3525439775175327,
          -0.8462461120684248,
          -0.05514420505952754,
          -0.23210216836271919,
          -0.04914768270168611,
          -1.338002423181632,
          0.47947431674641217
        ],
        "joint_pos_r": [
          -0.7785230991272755,
          -0.7006256566915579,
          0.1857088606373219,
          -1.4077949144129887,
          0.6838976661944076,
          0.5054652921246318,
          -1.1191936492580594
        ],
        "eef_pose_l": [
          557.521393455868,
          401.49909090473943,
          40.20333992115172,
          1.7050799491085264,
          -0.20240086763455922,
          0.6930862003308372
        ],
        "eef_pose_r": [
          460.0300052224739,
          -213.71772903932734,
          -40.61083485628802,
          1.5888835209969572,
          -0.0646566237527211,
          2.3783613401501977
        ],
        "joint_status_l": {
          "velocity": [
            -2.0383694732117874e-10,
            -4.072298054325074e-09,
            2.8554936193359026e-10,
            7.805533996929626e-09,
            -1.7119639039719914e-10,
            -4.860112312599085e-09,
            1.247890679678676e-10
          ],
          "torque": [
            -40.107421875,
            4.775390625,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -2.1185302734375,
            0.3167724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6833237830807803,
            -2.9334606027964227,
            -0.42150579455135784,
            -1.8828445488185963,
            -10.881126178486689,
            3.4862258555823367,
            7.54419786475502
          ],
          "torque": [
            27.8173828125,
            3.6181640625,
            9.820556640625,
            -9.46044921875,
            -1.025390625,
            6.3482666015625,
            0.68939208984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.5,
            -8.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -16.5,
            -8.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.4,
            -17.7,
            -1.5,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.4,
            -17.7,
            -1.5,
            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": -110,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775175327,
          -0.8462461120684248,
          -0.05514420505952754,
          -0.23210216836271919,
          -0.04914768270168611,
          -1.338002423181632,
          0.47947431674641217
        ],
        "act_joint_pos_r": [
          -0.7618160528179447,
          -0.7473203659547887,
          0.17861245849214116,
          -1.408641414577352,
          0.5881513552275037,
          0.5472749697819689,
          -1.0553493788374984
        ],
        "act_eef_pose_l": [
          557.521393455868,
          401.49909090473943,
          40.20333992115172,
          1.7050799491085264,
          -0.20240086763455922,
          0.6930862003308372
        ],
        "act_eef_pose_r": [
          452.3598644042035,
          -181.14914812687866,
          -30.68065665307995,
          1.5405003200338552,
          -0.05595593770846324,
          2.479636222311128
        ],
        "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": [
          0.35254397751722244,
          -0.8462461120746237,
          -0.05514420505909289,
          -0.2321021683508375,
          -0.04914768270194673,
          -1.3380024231890295,
          0.4794743167466019
        ],
        "joint_pos_r": [
          -0.7759615459336472,
          -0.7081432855630287,
          0.1845748811077957,
          -1.408571659332715,
          0.6667795996589577,
          0.5124973698115315,
          -1.1076781903293724
        ],
        "eef_pose_l": [
          557.5213934563023,
          401.49909090414303,
          40.20333992098179,
          1.7050799491079651,
          -0.20240086763464987,
          0.6930862003292978
        ],
        "eef_pose_r": [
          458.69927043024745,
          -208.09357957504625,
          -38.93917756914027,
          1.5805411834526586,
          -0.06362777234669806,
          2.395835728381931
        ],
        "joint_status_l": {
          "velocity": [
            -1.7053025658242404e-10,
            -3.4026115258711798e-09,
            2.3858692799194614e-10,
            6.52233822506787e-09,
            -1.4305223672295142e-10,
            -4.0607517348689726e-09,
            1.0436096431476471e-10
          ],
          "torque": [
            -40.13671875,
            4.833984375,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -2.0965576171875,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.5276682003309006,
            -4.230999895638021,
            -0.6439226510073226,
            -0.007533344236421158,
            -8.49159995224369,
            3.7558700233417674,
            5.651344963612637
          ],
          "torque": [
            30.22705078125,
            5.16357421875,
            9.637451171875,
            -8.074951171875,
            -1.1993408203125,
            6.6595458984375,
            0.76080322265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.9,
            -17.2,
            -9.9,
            1.5,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.9,
            -17.2,
            -9.9,
            1.5,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.9,
            -17.6,
            1.0,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -3.9,
            -17.6,
            1.0,
            1.1,
            0.0,
            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": -125,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751722244,
          -0.8462461120746237,
          -0.05514420505909289,
          -0.2321021683508375,
          -0.04914768270194673,
          -1.3380024231890295,
          0.4794743167466019
        ],
        "act_joint_pos_r": [
          -0.7557695020039721,
          -0.7575792912487761,
          0.17703037044616757,
          -1.399121930080591,
          0.5917059132516075,
          0.5511601553589173,
          -1.0571865778346021
        ],
        "act_eef_pose_l": [
          557.5213934563023,
          401.49909090414303,
          40.20333992098179,
          1.7050799491079651,
          -0.20240086763464987,
          0.6930862003292978
        ],
        "act_eef_pose_r": [
          455.2550644042035,
          -178.63634812687866,
          -29.219856653080114,
          1.5333180608055592,
          -0.0546276380875522,
          2.480674378623662
        ],
        "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": [
          0.3525439775169631,
          -0.8462461120798035,
          -0.05514420505872972,
          -0.23210216834090916,
          -0.04914768270216449,
          -1.3380024231952108,
          0.47947431674676044
        ],
        "joint_pos_r": [
          -0.7737429397220751,
          -0.7138201349390196,
          0.18370941505994207,
          -1.4078940785309662,
          0.6571270231676771,
          0.5171602313341345,
          -1.1012160889352332
        ],
        "eef_pose_l": [
          557.5213934566651,
          401.49909090364474,
          40.20333992083988,
          1.7050799491074957,
          -0.2024008676347256,
          0.6930862003280115
        ],
        "eef_pose_r": [
          458.2276907893921,
          -204.4887207322025,
          -37.791630073385704,
          1.5747635827799276,
          -0.0627728079076599,
          2.4063238498337896
        ],
        "joint_status_l": {
          "velocity": [
            -1.425526363618701e-10,
            -2.843059121460101e-09,
            1.9934054407144686e-10,
            5.4500848278848935e-09,
            -1.1957101975212936e-10,
            -3.3928415632544784e-09,
            8.704148513061227e-11
          ],
          "torque": [
            -40.1806640625,
            4.86328125,
            -7.60498046875,
            1.629638671875,
            -6.6119384765625,
            -2.0068359375,
            0.3167724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.9410740246375013,
            -4.725849499973123,
            -0.7213155442229446,
            0.9473640916297654,
            -7.065271491891956,
            3.671883498261419,
            4.755046956255171
          ],
          "torque": [
            32.6513671875,
            3.97705078125,
            9.893798828125,
            -7.26318359375,
            -0.849609375,
            6.463623046875,
            0.51910400390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.5,
            -7.3,
            1.4,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -16.5,
            -7.3,
            1.4,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.6,
            -17.7,
            -0.2,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.6,
            -17.7,
            -0.2,
            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": -152,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775169631,
          -0.8462461120798035,
          -0.05514420505872972,
          -0.23210216834090916,
          -0.04914768270216449,
          -1.3380024231952108,
          0.47947431674676044
        ],
        "act_joint_pos_r": [
          -0.7459175216096848,
          -0.7777090677373073,
          0.17402059495512212,
          -1.3815578126062271,
          0.619002271093243,
          0.5548948654368283,
          -1.0780537391415896
        ],
        "act_eef_pose_l": [
          557.5213934566651,
          401.49909090364474,
          40.20333992083988,
          1.7050799491074957,
          -0.2024008676347256,
          0.6930862003280115
        ],
        "act_eef_pose_r": [
          461.9622644042035,
          -174.76594812687864,
          -26.679056653080124,
          1.5186887227741,
          -0.05433821786628635,
          2.4722800014346027
        ],
        "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": [
          0.35254397751673006,
          -0.8462461120844584,
          -0.055144205058403326,
          -0.23210216833198652,
          -0.04914768270236022,
          -1.3380024232007657,
          0.47947431674690283
        ],
        "joint_pos_r": [
          -0.7694991477610132,
          -0.7238211011652477,
          0.18218833082327596,
          -1.4047273079026676,
          0.6471043787673612,
          0.5239082364414256,
          -1.0946850728275985
        ],
        "eef_pose_l": [
          557.5213934569912,
          401.49909090319693,
          40.20333992071238,
          1.705079949107074,
          -0.20240086763479384,
          0.6930862003268559
        ],
        "eef_pose_r": [
          458.38522759571543,
          -199.26148083338043,
          -35.98758328425805,
          1.5654570208090215,
          -0.061495912865518136,
          2.419496101881916
        ],
        "joint_status_l": {
          "velocity": [
            -1.1723955140041653e-10,
            -2.34035013590983e-09,
            1.6409096303959814e-10,
            4.4864112425102576e-09,
            -9.842127113302013e-11,
            -2.7924329515371937e-09,
            7.149836278586008e-11
          ],
          "torque": [
            -40.166015625,
            4.8046875,
            -7.611083984375,
            1.629638671875,
            -6.61376953125,
            -2.02880859375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.5467405122476805,
            -5.819728746057962,
            -0.8820894579226746,
            2.502231692636414,
            -3.034938118089414,
            3.34645723302307,
            1.796131064034867
          ],
          "torque": [
            32.67333984375,
            2.52685546875,
            9.97314453125,
            -4.5654296875,
            -0.465087890625,
            6.11572265625,
            0.37994384765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -16.8,
            -8.0,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -1.1,
            -16.8,
            -8.0,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -16.9,
            -0.5,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -16.9,
            -0.5,
            1.0,
            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": -160,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751673006,
          -0.8462461120844584,
          -0.055144205058403326,
          -0.23210216833198652,
          -0.04914768270236022,
          -1.3380024232007657,
          0.47947431674690283
        ],
        "act_joint_pos_r": [
          -0.7359238584075848,
          -0.791660741273537,
          0.17200776653067404,
          -1.3646900422140116,
          0.634070442041625,
          0.5553004931068037,
          -1.0855663558753654
        ],
        "act_eef_pose_l": [
          557.5213934569912,
          401.49909090319693,
          40.20333992071238,
          1.705079949107074,
          -0.20240086763479384,
          0.6930862003268559
        ],
        "act_eef_pose_r": [
          468.2694644042035,
          -173.27794812687864,
          -24.865456653079946,
          1.5119287121279665,
          -0.05407565684913446,
          2.4635227702639555
        ],
        "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": [
          0.3525439775166221,
          -0.8462461120866143,
          -0.05514420505825216,
          -0.23210216832785452,
          -0.04914768270245086,
          -1.338002423203338,
          0.47947431674696883
        ],
        "joint_pos_r": [
          -0.7641830316901181,
          -0.7352061764218591,
          0.18047145239495319,
          -1.3988987112473061,
          0.6430861812151231,
          0.5298006959573761,
          -1.0921863616244682
        ],
        "eef_pose_l": [
          557.5213934571424,
          401.49909090298956,
          40.20333992065329,
          1.7050799491068789,
          -0.20240086763482534,
          0.6930862003263204
        ],
        "eef_pose_r": [
          459.711882207329,
          -194.53196961834723,
          -34.14634304739104,
          1.5559148854740525,
          -0.060365784721092594,
          2.4286173131175897
        ],
        "joint_status_l": {
          "velocity": [
            -1.056932319443149e-10,
            -2.107647389948397e-09,
            1.4777068457760834e-10,
            4.040101586610945e-09,
            -8.859579736508749e-11,
            -2.5153212845907547e-09,
            6.439293542825908e-11
          ],
          "torque": [
            -40.15869140625,
            4.76806640625,
            -7.611083984375,
            1.629638671875,
            -6.61376953125,
            -1.937255859375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.051900703514576,
            -6.096913185138497,
            -0.9140511148455488,
            3.694427294286484,
            -0.9736711138437215,
            2.7538968702915945,
            0.714939534889325
          ],
          "torque": [
            33.94775390625,
            3.68408203125,
            10.211181640625,
            -3.387451171875,
            -0.267333984375,
            5.6890869140625,
            0.48431396484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.8,
            -16.2,
            -8.8,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.8,
            -16.2,
            -8.8,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.2,
            -1.5,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.2,
            -1.5,
            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": -129,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775166221,
          -0.8462461120866143,
          -0.05514420505825216,
          -0.23210216832785452,
          -0.04914768270245086,
          -1.338002423203338,
          0.47947431674696883
        ],
        "act_joint_pos_r": [
          -0.7281866123637539,
          -0.8074373442187042,
          0.16981053003002233,
          -1.3440224224793023,
          0.6307082884461033,
          0.5563036728948477,
          -1.0869013072823022
        ],
        "act_eef_pose_l": [
          557.5213934571424,
          401.49909090298956,
          40.20333992065329,
          1.7050799491068789,
          -0.20240086763482534,
          0.6930862003263204
        ],
        "act_eef_pose_r": [
          473.3094644042035,
          -170.69874812687866,
          -25.484656653080037,
          1.511348048791064,
          -0.0453865356260963,
          2.4613319166414716
        ],
        "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": [
          0.35254397751641375,
          -0.8462461120907703,
          -0.05514420505796074,
          -0.23210216831988795,
          -0.049147682702625595,
          -1.3380024232082974,
          0.47947431674709606
        ],
        "joint_pos_r": [
          -0.7573260855626035,
          -0.7489531021327137,
          0.17843601010482876,
          -1.3888826489774249,
          0.6407629010955275,
          0.5350805772715617,
          -1.0910578228447838
        ],
        "eef_pose_l": [
          557.5213934574336,
          401.4990909025897,
          40.20333992053946,
          1.705079949106502,
          -0.2024008676348865,
          0.6930862003252888
        ],
        "eef_pose_r": [
          462.2951478801975,
          -189.9437089297358,
          -32.48234803991542,
          1.5468534668237588,
          -0.05799515170180822,
          2.4352224925769077
        ],
        "joint_status_l": {
          "velocity": [
            -8.304468224196171e-11,
            -1.659117287999834e-09,
            1.1629586182948515e-10,
            3.1799007871313734e-09,
            -6.972200594645983e-11,
            -1.978861519091879e-09,
            5.062616992290714e-11
          ],
          "torque": [
            -40.15869140625,
            4.7607421875,
            -7.60498046875,
            1.62353515625,
            -6.6119384765625,
            -1.9317626953125,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.1469702905484453,
            -6.316111861525364,
            -0.931524374236492,
            4.844761573192358,
            -1.085866140228653,
            2.292026727599872,
            0.4488904414321482
          ],
          "torque": [
            32.54150390625,
            4.92919921875,
            9.490966796875,
            -4.644775390625,
            -0.531005859375,
            6.353759765625,
            0.57220458984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.7,
            -11.4,
            1.5,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -16.7,
            -11.4,
            1.5,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.7,
            -17.8,
            0.3,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.7,
            -17.8,
            0.3,
            1.1,
            0.1,
            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": -148,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751641375,
          -0.8462461120907703,
          -0.05514420505796074,
          -0.23210216831988795,
          -0.049147682702625595,
          -1.3380024232082974,
          0.47947431674709606
        ],
        "act_joint_pos_r": [
          -0.7226391316936979,
          -0.8201457095153757,
          0.16822845261757902,
          -1.3315525556886718,
          0.6478874739628558,
          0.5485573094163234,
          -1.1024645889165092
        ],
        "act_eef_pose_l": [
          557.5213934574336,
          401.4990909025897,
          40.20333992053946,
          1.705079949106502,
          -0.2024008676348865,
          0.6930862003252888
        ],
        "act_eef_pose_r": [
          478.3750644042035,
          -169.03074812687865,
          -26.043856653079956,
          1.5123721331422784,
          -0.04316880840946124,
          2.4499394675586346
        ],
        "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": [
          0.35254397751626837,
          -0.8462461120936742,
          -0.055144205057757155,
          -0.23210216831432204,
          -0.04914768270274768,
          -1.338002423211763,
          0.479474316747185
        ],
        "joint_pos_r": [
          -0.7505689909840644,
          -0.7626714869985012,
          0.17644183398039917,
          -1.3780892497412933,
          0.6403304809478304,
          0.538829587369344,
          -1.09172068890902
        ],
        "eef_pose_l": [
          557.5213934576369,
          401.4990909023103,
          40.203339920460024,
          1.705079949106239,
          -0.20240086763492898,
          0.693086200324567
        ],
        "eef_pose_r": [
          465.21890031696284,
          -185.7594667746875,
          -31.151920247130874,
          1.53930157605874,
          -0.055236269742422184,
          2.43960184636701
        ],
        "joint_status_l": {
          "velocity": [
            -6.750155989720952e-11,
            -1.3455903058456897e-09,
            9.431344594190705e-11,
            2.5786039969943886e-09,
            -5.6565863104651726e-11,
            -1.6058265828178264e-09,
            4.1300296516055823e-11
          ],
          "torque": [
            -40.12939453125,
            4.833984375,
            -7.611083984375,
            1.62353515625,
            -6.61376953125,
            -1.9189453125,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.0163358412895747,
            -6.207032965170001,
            -0.8870190259568922,
            5.025814729201272,
            0.8161311751200273,
            1.0505629963741825,
            -1.1603069793837406
          ],
          "torque": [
            32.6953125,
            1.19384765625,
            8.782958984375,
            -4.364013671875,
            1.5948486328125,
            5.5426025390625,
            -0.37628173828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -15.9,
            -8.6,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -15.9,
            -8.6,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.1,
            -0.2,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.1,
            -0.2,
            1.0,
            0.1,
            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": -150,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751626837,
          -0.8462461120936742,
          -0.055144205057757155,
          -0.23210216831432204,
          -0.04914768270274768,
          -1.338002423211763,
          0.479474316747185
        ],
        "act_joint_pos_r": [
          -0.7188513312353937,
          -0.8265664985032107,
          0.16741442606428794,
          -1.3194785366584603,
          0.656590712744468,
          0.5483556851987456,
          -1.1171322633577532
        ],
        "act_eef_pose_l": [
          557.5213934576369,
          401.4990909023103,
          40.203339920460024,
          1.705079949106239,
          -0.20240086763492898,
          0.693086200324567
        ],
        "act_eef_pose_r": [
          482.14626440420346,
          -169.70114812687865,
          -26.288656653079897,
          1.5119171336360393,
          -0.0328912831399441,
          2.4406878994954186
        ],
        "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": [
          0.35254397751616573,
          -0.8462461120957221,
          -0.05514420505761356,
          -0.23210216831039665,
          -0.04914768270283378,
          -1.338002423214207,
          0.4794743167472477
        ],
        "joint_pos_r": [
          -0.7477909418650993,
          -0.7683881721978867,
          0.17562488833733358,
          -1.3734604680289193,
          0.6410821387907557,
          0.5397971572156934,
          -1.0927893331023093
        ],
        "eef_pose_l": [
          557.5213934577804,
          401.49909090211327,
          40.20333992040398,
          1.7050799491060538,
          -0.20240086763495904,
          0.693086200324059
        ],
        "eef_pose_r": [
          466.55439045042,
          -184.13069037705642,
          -30.689215644046925,
          1.5365942085520232,
          -0.05408319960838451,
          2.4406177193185323
        ],
        "joint_status_l": {
          "velocity": [
            -5.639932965095795e-11,
            -1.1244338793403585e-09,
            7.882583474838611e-11,
            2.154720846192504e-09,
            -4.723998969780041e-11,
            -1.341149413747189e-09,
            3.419486915845482e-11
          ],
          "torque": [
            -40.17333984375,
            4.81201171875,
            -7.60498046875,
            1.629638671875,
            -6.6156005859375,
            -1.915283203125,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.716315385072221,
            -5.589649172398126,
            -0.7987914986375966,
            4.525921047841663,
            0.7349545222616882,
            0.9460685348678943,
            -1.0448968103489165
          ],
          "torque": [
            33.39111328125,
            2.607421875,
            9.271240234375,
            -3.8330078125,
            1.77978515625,
            5.9088134765625,
            -0.57037353515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.5,
            -7.8,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.5,
            -7.8,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.0,
            -17.6,
            -0.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.0,
            -17.6,
            -0.2,
            1.1,
            0.2,
            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": -103,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751616573,
          -0.8462461120957221,
          -0.05514420505761356,
          -0.23210216831039665,
          -0.04914768270283378,
          -1.338002423214207,
          0.4794743167472477
        ],
        "act_joint_pos_r": [
          -0.7157885586502508,
          -0.8274630622650119,
          0.16723952502488104,
          -1.3114007954708053,
          0.6560173320159355,
          0.5508127039649443,
          -1.1132636814687102
        ],
        "act_eef_pose_l": [
          557.5213934577804,
          401.49909090211327,
          40.20333992040398,
          1.7050799491060538,
          -0.20240086763495904,
          0.693086200324059
        ],
        "act_eef_pose_r": [
          484.3590644042035,
          -171.44834812687867,
          -25.97105665308004,
          1.5116290050251435,
          -0.032074476694527315,
          2.436334615399105
        ],
        "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": [
          0.35254397751606725,
          -0.8462461120976899,
          -0.05514420505747557,
          -0.23210216830662497,
          -0.04914768270291652,
          -1.338002423216555,
          0.479474316747308
        ],
        "joint_pos_r": [
          -0.7443980091959221,
          -0.774919383043214,
          0.17469912287018666,
          -1.3670611203239906,
          0.6426824224047725,
          0.5409083997617957,
          -1.0951152370351278
        ],
        "eef_pose_l": [
          557.5213934579182,
          401.4990909019239,
          40.203339920350004,
          1.7050799491058757,
          -0.20240086763498827,
          0.6930862003235703
        ],
        "eef_pose_r": [
          468.4189719060776,
          -182.63639643511166,
          -30.228578100134314,
          1.533777085018573,
          -0.05181899530365627,
          2.4405032943351985
        ],
        "joint_status_l": {
          "velocity": [
            -4.574118861455645e-11,
            -9.112710586123285e-10,
            6.394884621840902e-11,
            1.7474910407599964e-09,
            -3.835820550079916e-11,
            -1.0871303857129533e-09,
            2.7977620220553945e-11
          ],
          "torque": [
            -40.1513671875,
            4.833984375,
            -7.6171875,
            1.6357421875,
            -6.61376953125,
            -1.94091796875,
            0.3167724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.0897295322320772,
            -5.674549994048483,
            -0.8056128070135227,
            6.011137795113086,
            1.4401277637068333,
            1.069633306792106,
            -1.9599741924771763
          ],
          "torque": [
            32.98828125,
            2.81982421875,
            8.99658203125,
            -3.7109375,
            1.9647216796875,
            5.9967041015625,
            -0.79559326171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.9,
            -16.4,
            -8.3,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.9,
            -16.4,
            -8.3,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -16.9,
            0.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -16.9,
            0.1,
            1.0,
            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": -114,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751606725,
          -0.8462461120976899,
          -0.05514420505747557,
          -0.23210216830662497,
          -0.04914768270291652,
          -1.338002423216555,
          0.479474316747308
        ],
        "act_joint_pos_r": [
          -0.7127310123700736,
          -0.831286507787512,
          0.1667704282377744,
          -1.3053417671390455,
          0.6931308077125498,
          0.549981644567068,
          -1.1467347671170347
        ],
        "act_eef_pose_l": [
          557.5213934579182,
          401.4990909019239,
          40.203339920350004,
          1.7050799491058757,
          -0.20240086763498827,
          0.6930862003235703
        ],
        "act_eef_pose_r": [
          488.8806644042035,
          -173.66834812687864,
          -24.26465665308001,
          1.5042140290293546,
          -0.029099106855511387,
          2.4165046201762705
        ],
        "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": [
          0.3525439775159978,
          -0.8462461120990776,
          -0.055144205057378264,
          -0.23210216830396493,
          -0.049147682702974864,
          -1.3380024232182108,
          0.4794743167473504
        ],
        "joint_pos_r": [
          -0.7391619444625606,
          -0.784431726861693,
          0.1733529441448594,
          -1.3568678181193832,
          0.6471968026321826,
          0.5426112713271275,
          -1.100269032183036
        ],
        "eef_pose_l": [
          557.5213934580155,
          401.49909090179057,
          40.20333992031195,
          1.7050799491057498,
          -0.2024008676350083,
          0.6930862003232261
        ],
        "eef_pose_r": [
          471.5338684177498,
          -180.83378195894403,
          -29.453684300622598,
          1.5294037483127447,
          -0.04818130923875188,
          2.4386508076572877
        ],
        "joint_status_l": {
          "velocity": [
            -3.8191672047105385e-11,
            -7.620570841027074e-10,
            5.340172748447003e-11,
            1.4601653219870059e-09,
            -3.2029934260435766e-11,
            -9.094947017729282e-10,
            2.3092638912203256e-11
          ],
          "torque": [
            -40.12939453125,
            4.79736328125,
            -7.611083984375,
            1.629638671875,
            -6.61376953125,
            -1.97021484375,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.8544564782952975,
            -5.060167098336343,
            -0.7108907513633245,
            5.564649385316756,
            4.960726239880309,
            0.7959768338312578,
            -5.018151370408397
          ],
          "torque": [
            33.6328125,
            2.05078125,
            9.173583984375,
            -3.7109375,
            3.5467529296875,
            6.0992431640625,
            -0.74798583984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.3,
            -8.8,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.3,
            -8.8,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.6,
            -1.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.6,
            -1.3,
            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": -99,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775159978,
          -0.8462461120990776,
          -0.055144205057378264,
          -0.23210216830396493,
          -0.049147682702974864,
          -1.3380024232182108,
          0.4794743167473504
        ],
        "act_joint_pos_r": [
          -0.7089134833329269,
          -0.8385091817228664,
          0.1659027673631829,
          -1.2969996557168553,
          0.7277644054073716,
          0.5435229773364175,
          -1.1763330680130228
        ],
        "act_eef_pose_l": [
          557.5213934580155,
          401.49909090179057,
          40.20333992031195,
          1.7050799491057498,
          -0.2024008676350083,
          0.6930862003232261
        ],
        "act_eef_pose_r": [
          494.00786440420353,
          -174.85314812687866,
          -23.89985665307995,
          1.5023658923481409,
          -0.028438049974600445,
          2.396536618937472
        ],
        "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": [
          0.3525439775159675,
          -0.8462461120996835,
          -0.055144205057335784,
          -0.23210216830280375,
          -0.04914768270300033,
          -1.3380024232189338,
          0.47947431674736896
        ],
        "joint_pos_r": [
          -0.7339436824704515,
          -0.7937087258191695,
          0.17205818497782926,
          -1.346642725643351,
          0.6578925837059114,
          0.5436292333903772,
          -1.1107727298996086
        ],
        "eef_pose_l": [
          557.521393458058,
          401.49909090173225,
          40.20333992029535,
          1.705079949105695,
          -0.20240086763501738,
          0.6930862003230753
        ],
        "eef_pose_r": [
          475.14484623542086,
          -179.57441059538183,
          -28.512109094205215,
          1.5244678650907213,
          -0.04450905352854681,
          2.4333839779459896
        ],
        "joint_status_l": {
          "velocity": [
            -3.4638958368304884e-11,
            -6.963318810448982e-10,
            4.884981308350689e-11,
            1.3347101202043632e-09,
            -2.9254376698872875e-11,
            -8.313350008393172e-10,
            2.1316282072803006e-11
          ],
          "torque": [
            -40.15869140625,
            4.833984375,
            -7.611083984375,
            1.62353515625,
            -6.61376953125,
            -1.9775390625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.70318178076856,
            -4.8383065393746705,
            -0.6647654961715599,
            5.361293429164249,
            7.545934188325276,
            -0.011475315381481721,
            -7.080307693734689
          ],
          "torque": [
            34.9365234375,
            -1.23046875,
            8.538818359375,
            -3.96728515625,
            3.5833740234375,
            5.2825927734375,
            -0.92010498046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.6,
            -7.7,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.6,
            -7.7,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.1,
            -0.6,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.1,
            -0.6,
            1.0,
            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": [
          0.3525439775159675,
          -0.8462461120996835,
          -0.055144205057335784,
          -0.23210216830280375,
          -0.04914768270300033,
          -1.3380024232189338,
          0.47947431674736896
        ],
        "act_joint_pos_r": [
          -0.7035402409546498,
          -0.8490202100774137,
          0.16454158132021685,
          -1.2784623613357078,
          0.7418649783219103,
          0.538754330479222,
          -1.1904697381344267
        ],
        "act_eef_pose_l": [
          557.521393458058,
          401.49909090173225,
          40.20333992029535,
          1.705079949105695,
          -0.20240086763501738,
          0.6930862003230753
        ],
        "act_eef_pose_r": [
          499.8350644042035,
          -175.83714812687865,
          -25.238256653080043,
          1.5058867129275204,
          -0.022440502628935245,
          2.3812776594639797
        ],
        "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": [
          0.3525439775158947,
          -0.8462461121011319,
          -0.055144205057234226,
          -0.23210216830002725,
          -0.049147682703061225,
          -1.3380024232206627,
          0.4794743167474133
        ],
        "joint_pos_r": [
          -0.7284490220740785,
          -0.8036201335018907,
          0.1707035217851016,
          -1.335068202569524,
          0.673153735327059,
          0.5431983076590366,
          -1.1251700109986364
        ],
        "eef_pose_l": [
          557.5213934581594,
          401.4990909015928,
          40.203339920255786,
          1.7050799491055635,
          -0.20240086763503842,
          0.6930862003227155
        ],
        "eef_pose_r": [
          479.4854834337506,
          -178.72985938287246,
          -27.751800397488125,
          1.5201927305444052,
          -0.04070173161117529,
          2.4247173442487036
        ],
        "joint_status_l": {
          "velocity": [
            -2.708944180085382e-11,
            -5.400124791776761e-10,
            3.785860513971784e-11,
            1.034949903555571e-09,
            -2.270406085358445e-11,
            -6.448175327022909e-10,
            1.6431300764452317e-11
          ],
          "torque": [
            -40.11474609375,
            4.833984375,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -2.01416015625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.690069021554109,
            -4.903063662022866,
            -0.6654699432209199,
            6.113250552566285,
            7.420595384681761,
            -0.4799353804827433,
            -7.0521625382493625
          ],
          "torque": [
            33.78662109375,
            1.083984375,
            9.228515625,
            -3.375244140625,
            2.578125,
            4.127197265625,
            -0.8917236328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.5,
            -8.9,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.5,
            -8.9,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -16.5,
            -0.4,
            0.9,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -16.5,
            -0.4,
            0.9,
            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": -72,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775158947,
          -0.8462461121011319,
          -0.055144205057234226,
          -0.23210216830002725,
          -0.049147682703061225,
          -1.3380024232206627,
          0.4794743167474133
        ],
        "act_joint_pos_r": [
          -0.7016462183747909,
          -0.8582656476330998,
          0.16341142498923092,
          -1.2637689440403101,
          0.7593023232172827,
          0.5421434544808398,
          -1.2078581170159302
        ],
        "act_eef_pose_l": [
          557.5213934581594,
          401.4990909015928,
          40.203339920255786,
          1.7050799491055635,
          -0.20240086763503842,
          0.6930862003227155
        ],
        "act_eef_pose_r": [
          503.79746440420354,
          -176.27554812687865,
          -25.86145665308004,
          1.502126249642023,
          -0.018992360572670848,
          2.3694735175145754
        ],
        "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": [
          0.3525439775158475,
          -0.8462461121020769,
          -0.055144205057167966,
          -0.23210216829821573,
          -0.049147682703100964,
          -1.3380024232217909,
          0.4794743167474423
        ],
        "joint_pos_r": [
          -0.7232775926889142,
          -0.813543419010572,
          0.1693673891361109,
          -1.3224237116342696,
          0.6884680945591999,
          0.5425957723681951,
          -1.1397941631743729
        ],
        "eef_pose_l": [
          557.5213934582255,
          401.49909090150203,
          40.20333992022992,
          1.7050799491054778,
          -0.2024008676350523,
          0.6930862003224805
        ],
        "eef_pose_r": [
          483.9687558498255,
          -178.20163278495,
          -27.35080675760628,
          1.516865914568245,
          -0.03669127530201395,
          2.4150153282438653
        ],
        "joint_status_l": {
          "velocity": [
            -2.1760371282653068e-11,
            -4.3787196091216174e-10,
            3.069766663088558e-11,
            8.393286066166183e-10,
            -1.84297022087776e-11,
            -5.222489107836736e-10,
            1.3322676295501878e-11
          ],
          "torque": [
            -40.166015625,
            4.833984375,
            -7.611083984375,
            1.62353515625,
            -6.6156005859375,
            -1.9610595703125,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.3361195257631806,
            -4.829858242178631,
            -0.6432251569512548,
            6.33452807322854,
            7.64987107418591,
            -0.04884889111389512,
            -7.350690217867495
          ],
          "torque": [
            34.85595703125,
            1.75048828125,
            9.197998046875,
            -3.460693359375,
            2.508544921875,
            4.852294921875,
            -0.96221923828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -17.0,
            -8.9,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -17.0,
            -8.9,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -16.7,
            -0.9,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.7,
            -0.9,
            1.0,
            0.3,
            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": -9,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775158475,
          -0.8462461121020769,
          -0.055144205057167966,
          -0.23210216829821573,
          -0.049147682703100964,
          -1.3380024232217909,
          0.4794743167474423
        ],
        "act_joint_pos_r": [
          -0.6997787511442235,
          -0.8609783022224875,
          0.16313051521546576,
          -1.2595353317544866,
          0.7713729221190359,
          0.540003175770898,
          -1.2153629708105618
        ],
        "act_eef_pose_l": [
          557.5213934582255,
          401.49909090150203,
          40.20333992022992,
          1.7050799491054778,
          -0.2024008676350523,
          0.6930862003224805
        ],
        "act_eef_pose_r": [
          505.9270644042035,
          -177.00274812687866,
          -25.70625665307989,
          1.5018034833495513,
          -0.02091461785976108,
          2.3618435790436982
        ],
        "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": [
          0.3525439775158142,
          -0.8462461121027434,
          -0.055144205057121226,
          -0.23210216829693822,
          -0.049147682703129,
          -1.338002423222586,
          0.47947431674746266
        ],
        "joint_pos_r": [
          -0.7202429854820107,
          -0.8198003220326926,
          0.16853530835335448,
          -1.3142075242081628,
          0.698493705928758,
          0.5425011037361863,
          -1.1493668679139921
        ],
        "eef_pose_l": [
          557.5213934582724,
          401.49909090143797,
          40.20333992021159,
          1.705079949105418,
          -0.20240086763506213,
          0.6930862003223152
        ],
        "eef_pose_r": [
          486.7882603373223,
          -177.95061327211062,
          -27.169715165846156,
          1.514729120257519,
          -0.034239206062224394,
          2.4086140229548123
        ],
        "joint_status_l": {
          "velocity": [
            -1.8207657603852567e-11,
            -3.659295089164516e-10,
            2.5646151868841116e-11,
            7.012168623532489e-10,
            -1.5376588891058418e-11,
            -4.369837824924616e-10,
            1.1102230246251565e-11
          ],
          "torque": [
            -40.13671875,
            4.76806640625,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -1.951904296875,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.210072125888196,
            -4.447090700567813,
            -0.5837004435675919,
            5.904422643359553,
            7.870723213977193,
            -0.2697682638617138,
            -7.1273689023207965
          ],
          "torque": [
            33.1640625,
            2.2705078125,
            9.5947265625,
            -2.923583984375,
            2.4334716796875,
            4.8687744140625,
            -0.79010009765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.7,
            -16.3,
            -9.4,
            1.4,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -16.3,
            -9.4,
            1.4,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.0,
            -0.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.0,
            -0.8,
            1.0,
            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": -5,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775158142,
          -0.8462461121027434,
          -0.055144205057121226,
          -0.23210216829693822,
          -0.049147682703129,
          -1.338002423222586,
          0.47947431674746266
        ],
        "act_joint_pos_r": [
          -0.6951173340173256,
          -0.8659842236971347,
          0.1625205325217206,
          -1.250394970098591,
          0.8026044981890688,
          0.538863103385104,
          -1.236456224021123
        ],
        "act_eef_pose_l": [
          557.5213934582724,
          401.49909090143797,
          40.20333992021159,
          1.705079949105418,
          -0.20240086763506213,
          0.6930862003223152
        ],
        "act_eef_pose_r": [
          510.8286644042035,
          -179.30434812687866,
          -24.26785665307989,
          1.4971127210356312,
          -0.02393881921862926,
          2.343420325701457
        ],
        "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": [
          0.3525439775157822,
          -0.8462461121033837,
          -0.05514420505707633,
          -0.23210216829571065,
          -0.04914768270315593,
          -1.3380024232233498,
          0.47947431674748225
        ],
        "joint_pos_r": [
          -0.7166729664612015,
          -0.8265488520910644,
          0.16765421525928256,
          -1.304999406101173,
          0.7126628679003981,
          0.5420085330136178,
          -1.1614827967685841
        ],
        "eef_pose_l": [
          557.5213934583172,
          401.4990909013764,
          40.20333992019397,
          1.7050799491053596,
          -0.20240086763507137,
          0.6930862003221565
        ],
        "eef_pose_r": [
          490.22728750724576,
          -178.0269712781625,
          -26.822557373541855,
          1.5121338912409334,
          -0.03246431060404207,
          2.3997255035914304
        ],
        "joint_status_l": {
          "velocity": [
            -1.4654943925052066e-11,
            -2.9665159217984183e-10,
            2.0816681711721685e-11,
            5.686562332130052e-10,
            -1.2490009027033011e-11,
            -3.5349501104064984e-10,
            8.881784197001252e-12
          ],
          "torque": [
            -40.1220703125,
            4.833984375,
            -7.611083984375,
            1.62353515625,
            -6.61376953125,
            -1.959228515625,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.327939645029531,
            -4.258894524075352,
            -0.5544213838721834,
            5.897105162459226,
            9.713409589473976,
            -0.3396963810704534,
            -8.096891338229995
          ],
          "torque": [
            34.8046875,
            3.10546875,
            9.857177734375,
            -4.583740234375,
            2.3895263671875,
            4.1656494140625,
            -0.816650390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.8,
            -16.4,
            -8.5,
            1.4,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.8,
            -16.4,
            -8.5,
            1.4,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.1,
            -17.6,
            0.0,
            1.1,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -17.6,
            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": 1,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775157822,
          -0.8462461121033837,
          -0.05514420505707633,
          -0.23210216829571065,
          -0.04914768270315593,
          -1.3380024232233498,
          0.47947431674748225
        ],
        "act_joint_pos_r": [
          -0.6925576252942304,
          -0.8687504152900665,
          0.16214582427887403,
          -1.2402593661135881,
          0.8129887937428775,
          0.5379751225494979,
          -1.2415553268613562
        ],
        "act_eef_pose_l": [
          557.5213934583172,
          401.4990909013764,
          40.20333992019397,
          1.7050799491053596,
          -0.20240086763507137,
          0.6930862003221565
        ],
        "act_eef_pose_r": [
          514.0846644042035,
          -181.67954812687867,
          -24.694256653079947,
          1.498374264200476,
          -0.024491893719822518,
          2.332280180116985
        ],
        "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": [
          0.3525439775157614,
          -0.8462461121038007,
          -0.05514420505704708,
          -0.23210216829491123,
          -0.04914768270317346,
          -1.3380024232238474,
          0.479474316747495
        ],
        "joint_pos_r": [
          -0.7134920698566458,
          -0.8322300066625696,
          0.16691359141821707,
          -1.2966783307178646,
          0.7259139152396059,
          0.5415072781163761,
          -1.1722721198793984
        ],
        "eef_pose_l": [
          557.5213934583463,
          401.4990909013364,
          40.203339920182515,
          1.705079949105322,
          -0.20240086763507736,
          0.6930862003220535
        ],
        "eef_pose_r": [
          493.3702050374628,
          -178.36003318732088,
          -26.512352915850443,
          1.5099895872930174,
          -0.03127313376824682,
          2.3911299542743856
        ],
        "joint_status_l": {
          "velocity": [
            -1.2434497875801753e-11,
            -2.5135449277513544e-10,
            1.765254609153999e-11,
            4.82502926502093e-10,
            -1.0602629885170245e-11,
            -3.0020430585864233e-10,
            7.549516567451064e-12
          ],
          "torque": [
            -40.13671875,
            4.82666015625,
            -7.60498046875,
            1.629638671875,
            -6.6119384765625,
            -1.9720458984375,
            0.3167724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.260853332436419,
            -3.9440878071168584,
            -0.5149036647771332,
            6.093068471814789,
            9.403809527817053,
            -0.3814615506159136,
            -7.482365673471492
          ],
          "torque": [
            36.1376953125,
            3.72802734375,
            9.356689453125,
            -2.6123046875,
            2.3382568359375,
            3.717041015625,
            -1.00067138671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.6,
            -16.0,
            -7.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.6,
            -16.0,
            -7.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -16.8,
            -1.9,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -16.8,
            -1.9,
            1.1,
            0.3,
            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": 1,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775157614,
          -0.8462461121038007,
          -0.05514420505704708,
          -0.23210216829491123,
          -0.04914768270317346,
          -1.3380024232238474,
          0.479474316747495
        ],
        "act_joint_pos_r": [
          -0.6930329524187281,
          -0.8694188054395315,
          0.16210405443051054,
          -1.2398794163629285,
          0.8265796030335766,
          0.5351189071949505,
          -1.2524919032686292
        ],
        "act_eef_pose_l": [
          557.5213934583463,
          401.4990909013364,
          40.203339920182515,
          1.705079949105322,
          -0.20240086763507736,
          0.6930862003220535
        ],
        "act_eef_pose_r": [
          515.0638644042035,
          -182.52194812687867,
          -25.143056653080066,
          1.4993259046810519,
          -0.026291229716294752,
          2.325070139749663
        ],
        "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": [
          0.3525439775157407,
          -0.8462461121042126,
          -0.05514420505701817,
          -0.2321021682941215,
          -0.049147682703190795,
          -1.3380024232243393,
          0.4794743167475076
        ],
        "joint_pos_r": [
          -0.7095689555215768,
          -0.8391819101341612,
          0.1660092949654425,
          -1.2859856594039636,
          0.7433542170455238,
          0.540633631623947,
          -1.1861577612373586
        ],
        "eef_pose_l": [
          557.5213934583752,
          401.49909090129677,
          40.20333992017129,
          1.7050799491052848,
          -0.20240086763508364,
          0.693086200321951
        ],
        "eef_pose_r": [
          497.41142623105316,
          -179.02563503261607,
          -26.211299077531407,
          1.5076815790666582,
          -0.030072675651920566,
          2.379510819442065
        ],
        "joint_status_l": {
          "velocity": [
            -1.021405182655144e-11,
            -2.0694557179012918e-10,
            1.454392162258955e-11,
            3.97015753605956e-10,
            -8.715250743307479e-12,
            -2.469136006766348e-10,
            6.217248937900877e-12
          ],
          "torque": [
            -40.1513671875,
            4.81201171875,
            -7.611083984375,
            1.629638671875,
            -6.6119384765625,
            -1.98486328125,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.7858356647009188,
            -3.265488382548476,
            -0.4217535388169047,
            4.979327391021471,
            8.988076597559846,
            -0.5955726728550381,
            -7.163876052146634
          ],
          "torque": [
            35.595703125,
            1.04736328125,
            9.1552734375,
            -4.693603515625,
            2.332763671875,
            3.7408447265625,
            -0.8843994140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.2,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.2,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.2,
            -0.8,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.2,
            -0.8,
            1.0,
            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": 20,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775157407,
          -0.8462461121042126,
          -0.05514420505701817,
          -0.2321021682941215,
          -0.049147682703190795,
          -1.3380024232243393,
          0.4794743167475076
        ],
        "act_joint_pos_r": [
          -0.6932301732112665,
          -0.8702806641287625,
          0.1620354532907948,
          -1.23891374824736,
          0.8335304512015043,
          0.5339622547540603,
          -1.2576152512718337
        ],
        "act_eef_pose_l": [
          557.5213934583752,
          401.49909090129677,
          40.20333992017129,
          1.7050799491052848,
          -0.20240086763508364,
          0.693086200321951
        ],
        "act_eef_pose_r": [
          515.6846644042034,
          -182.89154812687866,
          -25.439856653079914,
          1.4997020932377108,
          -0.027643340711114475,
          2.321306006387951
        ],
        "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": [
          0.35254397751572986,
          -0.8462461121044291,
          -0.05514420505700299,
          -0.23210216829370647,
          -0.04914768270319989,
          -1.3380024232245973,
          0.47947431674751423
        ],
        "joint_pos_r": [
          -0.7064572577596373,
          -0.844959946021093,
          0.16526611343955724,
          -1.277200243533301,
          0.7595880692232969,
          0.5395077475626127,
          -1.1990667760384748
        ],
        "eef_pose_l": [
          557.5213934583905,
          401.49909090127596,
          40.20333992016532,
          1.7050799491052648,
          -0.20240086763508652,
          0.6930862003218973
        ],
        "eef_pose_r": [
          500.8376836291401,
          -179.69461886945828,
          -26.025355273923168,
          1.5059494126605333,
          -0.029415522799659564,
          2.3689531465949227
        ],
        "joint_status_l": {
          "velocity": [
            -9.325873406851315e-12,
            -1.8385293287792592e-10,
            1.2878587085651816e-11,
            3.523847880160247e-10,
            -7.716050021144838e-12,
            -2.184918912462308e-10,
            5.773159728050814e-12
          ],
          "torque": [
            -40.1953125,
            4.81201171875,
            -7.611083984375,
            1.629638671875,
            -6.6119384765625,
            -1.995849609375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.4284830003701288,
            -2.7345569041834494,
            -0.34890100578133243,
            4.134819540897894,
            7.9855417326815115,
            -0.598895559843271,
            -6.323048836843981
          ],
          "torque": [
            36.64306640625,
            0.22705078125,
            9.295654296875,
            -4.28466796875,
            2.4884033203125,
            3.7060546875,
            -0.75164794921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.5,
            -8.9,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -16.5,
            -8.9,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.5,
            -17.4,
            -1.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -17.4,
            -1.0,
            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": 70,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751572986,
          -0.8462461121044291,
          -0.05514420505700299,
          -0.23210216829370647,
          -0.04914768270319989,
          -1.3380024232245973,
          0.47947431674751423
        ],
        "act_joint_pos_r": [
          -0.6917918097887603,
          -0.8718918483208674,
          0.16186638204314927,
          -1.2370068329634474,
          0.8389975025249163,
          0.5330021949948022,
          -1.261713106676081
        ],
        "act_eef_pose_l": [
          557.5213934583905,
          401.49909090127596,
          40.20333992016532,
          1.7050799491052648,
          -0.20240086763508652,
          0.6930862003218973
        ],
        "act_eef_pose_r": [
          516.7414644042035,
          -183.01474812687866,
          -25.085456653079973,
          1.4991254884629055,
          -0.027627637900603113,
          2.318182432019303
        ],
        "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": [
          0.35254397751571276,
          -0.8462461121047714,
          -0.055144205056979,
          -0.23210216829305047,
          -0.04914768270321428,
          -1.338002423225006,
          0.47947431674752466
        ],
        "joint_pos_r": [
          -0.7036739663983543,
          -0.8501899175636756,
          0.16460195824829577,
          -1.2693376613433136,
          0.7749262483471526,
          0.5383101816208447,
          -1.211191890837926
        ],
        "eef_pose_l": [
          557.5213934584144,
          401.49909090124294,
          40.20333992015597,
          1.705079949105234,
          -0.20240086763509169,
          0.693086200321812
        ],
        "eef_pose_r": [
          503.95029592140895,
          -180.33381436340403,
          -25.868819010985845,
          1.504487822109622,
          -0.029024397534308802,
          2.359099886855854
        ],
        "joint_status_l": {
          "velocity": [
            -7.549516567451064e-12,
            -1.4654943925052066e-10,
            1.0269562977782698e-11,
            2.815525590449397e-10,
            -6.161737786669619e-12,
            -1.758593271006248e-10,
            4.440892098500626e-12
          ],
          "torque": [
            -40.0927734375,
            4.892578125,
            -7.611083984375,
            1.62353515625,
            -6.6156005859375,
            -2.017822265625,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.2832350668414705,
            -2.3437393968777087,
            -0.29543351681016183,
            3.4916264850082257,
            6.919491371709441,
            -0.5732456486358117,
            -5.456130390555813
          ],
          "torque": [
            36.78955078125,
            0.71044921875,
            9.503173828125,
            -3.790283203125,
            2.2027587890625,
            3.4661865234375,
            -0.92010498046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.5,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.5,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.3,
            -1.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.3,
            -1.0,
            1.1,
            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": 76,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751571276,
          -0.8462461121047714,
          -0.055144205056979,
          -0.23210216829305047,
          -0.04914768270321428,
          -1.338002423225006,
          0.47947431674752466
        ],
        "act_joint_pos_r": [
          -0.6872701251422315,
          -0.8744634440461787,
          0.16152138228520665,
          -1.2292546509623752,
          0.8316465565788452,
          0.5344898325965054,
          -1.254845164826622
        ],
        "act_eef_pose_l": [
          557.5213934584144,
          401.49909090124294,
          40.20333992015597,
          1.705079949105234,
          -0.20240086763509169,
          0.693086200321812
        ],
        "act_eef_pose_r": [
          518.6902644042035,
          -183.39074812687866,
          -24.110256653079887,
          1.4982222329575858,
          -0.023538350556749618,
          2.3179797092800523
        ],
        "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": [
          0.35254397751569994,
          -0.8462461121050285,
          -0.05514420505696097,
          -0.23210216829255784,
          -0.04914768270322509,
          -1.3380024232253125,
          0.47947431674753255
        ],
        "joint_pos_r": [
          -0.700896304959843,
          -0.8547746943074256,
          0.16402224679107136,
          -1.2621706432741626,
          0.7871786160021859,
          0.5373705969832915,
          -1.2207610445607426
        ],
        "eef_pose_l": [
          557.5213934584325,
          401.49909090121815,
          40.20333992014886,
          1.7050799491052115,
          -0.2024008676350954,
          0.6930862003217487
        ],
        "eef_pose_r": [
          506.71667491031076,
          -180.8957122143892,
          -25.6312028511434,
          1.5032481507836553,
          -0.02836709390071529,
          2.3508516960299786
        ],
        "joint_status_l": {
          "velocity": [
            -5.773159728050814e-12,
            -1.1901590823981678e-10,
            8.326672684688674e-12,
            2.2826185386293218e-10,
            -4.9960036108132044e-12,
            -1.4210854715202004e-10,
            3.552713678800501e-12
          ],
          "torque": [
            -40.13671875,
            4.8193359375,
            -7.611083984375,
            1.62353515625,
            -6.61376953125,
            -2.025146484375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.4715840182519813,
            -2.1263222592624587,
            -0.27008540089035193,
            3.554822325792628,
            4.802395943181104,
            -0.31111337797451455,
            -3.680976424117688
          ],
          "torque": [
            36.826171875,
            0.673828125,
            9.47265625,
            -4.046630859375,
            2.039794921875,
            3.3306884765625,
            -0.75714111328125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.4,
            -8.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.4,
            -8.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.1,
            -1.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.1,
            -1.3,
            1.0,
            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": 70,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751569994,
          -0.8462461121050285,
          -0.05514420505696097,
          -0.23210216829255784,
          -0.04914768270322509,
          -1.3380024232253125,
          0.47947431674753255
        ],
        "act_joint_pos_r": [
          -0.6845825811953281,
          -0.8743639311113046,
          0.16149177822691305,
          -1.2251488185396955,
          0.8411213686644867,
          0.5400324662118339,
          -1.2576109360839867
        ],
        "act_eef_pose_l": [
          557.5213934584325,
          401.49909090121815,
          40.20333992014886,
          1.7050799491052115,
          -0.2024008676350954,
          0.6930862003217487
        ],
        "act_eef_pose_r": [
          520.5006644042035,
          -185.26354812687865,
          -22.100656653080023,
          1.4914967607434015,
          -0.02594680088916743,
          2.3120315486464644
        ],
        "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": [
          0.3525439775156895,
          -0.8462461121052369,
          -0.055144205056946366,
          -0.23210216829215827,
          -0.04914768270323385,
          -1.3380024232255614,
          0.47947431674753893
        ],
        "joint_pos_r": [
          -0.6993586883582172,
          -0.8569964284155006,
          0.16374004217949983,
          -1.2584563097694665,
          0.7921965039638849,
          0.5370455233965794,
          -1.2246071929217717
        ],
        "eef_pose_l": [
          557.5213934584469,
          401.49909090119826,
          40.20333992014315,
          1.7050799491051918,
          -0.20240086763509849,
          0.6930862003216968
        ],
        "eef_pose_r": [
          508.07927051875805,
          -181.17339232062042,
          -25.467384672971804,
          1.5026651571424596,
          -0.02781232458168017,
          2.3471432005350477
        ],
        "joint_status_l": {
          "velocity": [
            -4.884981308350689e-12,
            -9.681144774731365e-11,
            6.772360450213455e-12,
            1.851852005074761e-10,
            -4.052314039881821e-12,
            -1.1546319456101628e-10,
            3.1086244689504383e-12
          ],
          "torque": [
            -40.1513671875,
            4.87060546875,
            -7.611083984375,
            1.62353515625,
            -6.6119384765625,
            -2.0233154296875,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.3055263228860525,
            -1.8863820522483365,
            -0.23960820171753383,
            3.153686138166023,
            4.260480026273328,
            -0.2760064660325412,
            -3.2656046518617643
          ],
          "torque": [
            35.7568359375,
            2.86376953125,
            9.405517578125,
            -4.730224609375,
            2.2613525390625,
            3.4844970703125,
            -0.77728271484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.4,
            -8.9,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.4,
            -8.9,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.4,
            -17.1,
            -1.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -17.1,
            -1.0,
            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": 76,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156895,
          -0.8462461121052369,
          -0.055144205056946366,
          -0.23210216829215827,
          -0.04914768270323385,
          -1.3380024232255614,
          0.47947431674753893
        ],
        "act_joint_pos_r": [
          -0.6863168146024431,
          -0.8649787385607391,
          0.16262299806708874,
          -1.237585520443562,
          0.7889415723313209,
          0.5583115366853294,
          -1.2138681108555172
        ],
        "act_eef_pose_l": [
          557.5213934584469,
          401.49909090119826,
          40.20333992014315,
          1.7050799491051918,
          -0.20240086763509849,
          0.6930862003216968
        ],
        "act_eef_pose_r": [
          513.5870644042035,
          -182.14194812687865,
          -18.791056653079977,
          1.4810041695253695,
          -0.023221630185009782,
          2.346134880012045
        ],
        "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": [
          0.3525439775156821,
          -0.8462461121053839,
          -0.05514420505693606,
          -0.23210216829187644,
          -0.04914768270324003,
          -1.3380024232257366,
          0.4794743167475434
        ],
        "joint_pos_r": [
          -0.6978034083501832,
          -0.8585454836057144,
          0.16353640604146857,
          -1.2552987808992628,
          0.7952995237152063,
          0.5381110073263176,
          -1.2263738200627567
        ],
        "eef_pose_l": [
          557.5213934584573,
          401.4990909011841,
          40.20333992013914,
          1.7050799491051787,
          -0.20240086763510073,
          0.6930862003216605
        ],
        "eef_pose_r": [
          509.16397731645003,
          -181.467852489364,
          -24.976106952767765,
          1.5010248837772449,
          -0.027444682295765275,
          2.3447593375907503
        ],
        "joint_status_l": {
          "velocity": [
            -3.9968028886505635e-12,
            -8.08242361927114e-11,
            5.662137425588298e-12,
            1.5476508963274682e-10,
            -3.3861802251067274e-12,
            -9.592326932761353e-11,
            2.6645352591003757e-12
          ],
          "torque": [
            -40.18798828125,
            4.833984375,
            -7.611083984375,
            1.629638671875,
            -6.6119384765625,
            -2.0306396484375,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.2405155377059884,
            -0.6947710439657584,
            -0.09864515184987432,
            1.912975709013054,
            -0.686638498140546,
            2.1815928281316843,
            1.3505767612507213
          ],
          "torque": [
            36.40869140625,
            1.1572265625,
            9.27734375,
            -3.25927734375,
            1.88232421875,
            5.0115966796875,
            -0.6591796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.7,
            -10.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -16.7,
            -10.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -16.9,
            -1.3,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -16.9,
            -1.3,
            1.0,
            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": 124,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156821,
          -0.8462461121053839,
          -0.05514420505693606,
          -0.23210216829187644,
          -0.04914768270324003,
          -1.3380024232257366,
          0.4794743167475434
        ],
        "act_joint_pos_r": [
          -0.6876130092108808,
          -0.8591486370825785,
          0.16334090677365556,
          -1.245376138083125,
          0.743157770366826,
          0.5680115168366027,
          -1.174899718048237
        ],
        "act_eef_pose_l": [
          557.5213934584573,
          401.4990909011841,
          40.20333992013914,
          1.7050799491051787,
          -0.20240086763510073,
          0.6930862003216605
        ],
        "act_eef_pose_r": [
          508.22226440420354,
          -179.24834812687865,
          -17.832656653079994,
          1.4796040555000802,
          -0.021681403144019264,
          2.3739806792414373
        ],
        "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": [
          0.35254397751567546,
          -0.8462461121055161,
          -0.055144205056926805,
          -0.23210216829162325,
          -0.049147682703245585,
          -1.3380024232258945,
          0.4794743167475475
        ],
        "joint_pos_r": [
          -0.6958478035982701,
          -0.8593441512212904,
          0.16341662535334248,
          -1.2526196386534028,
          0.7915148975602829,
          0.5422462945058385,
          -1.2218982606029192
        ],
        "eef_pose_l": [
          557.5213934584666,
          401.49909090117137,
          40.203339920135505,
          1.7050799491051667,
          -0.2024008676351026,
          0.6930862003216273
        ],
        "eef_pose_r": [
          509.65625879738883,
          -181.42442700299912,
          -23.81679945761951,
          1.4973274666796617,
          -0.02661793372872923,
          2.3465461821445603
        ],
        "joint_status_l": {
          "velocity": [
            -3.1086244689504383e-12,
            -6.661338147750939e-11,
            4.6629367034256575e-12,
            1.2723155862204294e-10,
            -2.7755575615628914e-12,
            -7.993605777301127e-11,
            2.220446049250313e-12
          ],
          "torque": [
            -40.166015625,
            4.8486328125,
            -7.611083984375,
            1.62353515625,
            -6.61376953125,
            -2.0269775390625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.8893315644060706,
            0.02111490423040152,
            -0.008177365427686212,
            0.7822749896231329,
            -5.222415709976502,
            2.782561944444595,
            5.07569289634624
          ],
          "torque": [
            36.21826171875,
            3.44970703125,
            12.969970703125,
            -5.74951171875,
            -1.91162109375,
            6.632080078125,
            0.6427001953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.2,
            -16.7,
            -7.9,
            1.4,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -1.2,
            -16.7,
            -7.9,
            1.4,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.0,
            -1.2,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.0,
            -1.2,
            1.0,
            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": 152,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751567546,
          -0.8462461121055161,
          -0.055144205056926805,
          -0.23210216829162325,
          -0.049147682703245585,
          -1.3380024232258945,
          0.4794743167475475
        ],
        "act_joint_pos_r": [
          -0.6952070033634619,
          -0.8520908374561407,
          0.16434173352605772,
          -1.2637051204653222,
          0.6777981594083874,
          0.5758617441256835,
          -1.1151758284331261
        ],
        "act_eef_pose_l": [
          557.5213934584666,
          401.49909090117137,
          40.203339920135505,
          1.7050799491051667,
          -0.2024008676351026,
          0.6930862003216273
        ],
        "act_eef_pose_r": [
          497.79186440420347,
          -172.61314812687866,
          -19.475056653080173,
          1.4848087334578373,
          -0.030860614399117754,
          2.419028926839505
        ],
        "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": [
          0.35254397751567246,
          -0.8462461121055772,
          -0.05514420505692251,
          -0.23210216829150604,
          -0.04914768270324816,
          -1.3380024232259673,
          0.4794743167475493
        ],
        "joint_pos_r": [
          -0.6948441341547784,
          -0.8586986712582074,
          0.1634873564163548,
          -1.2527372863069801,
          0.7761775822567175,
          0.5481014943490566,
          -1.2073181638234658
        ],
        "eef_pose_l": [
          557.5213934584709,
          401.49909090116535,
          40.2033399201338,
          1.7050799491051611,
          -0.2024008676351034,
          0.6930862003216123
        ],
        "eef_pose_r": [
          508.53614098097,
          -180.41907466739576,
          -22.67717389065382,
          1.4938199060143613,
          -0.026398457608607925,
          2.3557097764204564
        ],
        "joint_status_l": {
          "velocity": [
            -3.1086244689504383e-12,
            -5.950795411990839e-11,
            4.218847493575595e-12,
            1.1457501614131615e-10,
            -2.4980018054066022e-12,
            -7.105427357601002e-11,
            1.7763568394002505e-12
          ],
          "torque": [
            -40.13671875,
            4.833984375,
            -7.611083984375,
            1.629638671875,
            -6.61376953125,
            -2.025146484375,
            0.3167724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.039188718727878324,
            0.7136250033790148,
            0.09227000648959205,
            -1.184491154402778,
            -10.624664309895948,
            2.998018554044357,
            9.951078730779273
          ],
          "torque": [
            33.0029296875,
            6.5478515625,
            14.007568359375,
            -9.26513671875,
            -1.1993408203125,
            6.78955078125,
            1.1572265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.4,
            -8.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.4,
            -8.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.3,
            -16.9,
            0.0,
            1.1,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.3,
            -16.9,
            0.0,
            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": 146,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751567246,
          -0.8462461121055772,
          -0.05514420505692251,
          -0.23210216829150604,
          -0.04914768270324816,
          -1.3380024232259673,
          0.4794743167475493
        ],
        "act_joint_pos_r": [
          -0.7028586757787654,
          -0.8508335128625598,
          0.16469385668337688,
          -1.2798958757724404,
          0.6235081297313471,
          0.570110101339379,
          -1.0782162886894056
        ],
        "act_eef_pose_l": [
          557.5213934584709,
          401.49909090116535,
          40.2033399201338,
          1.7050799491051611,
          -0.2024008676351034,
          0.6930862003216123
        ],
        "act_eef_pose_r": [
          489.0470644042035,
          -165.11954812687867,
          -23.726256653079872,
          1.4998250165358278,
          -0.029904596282197222,
          2.4541533680692
        ],
        "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": [
          0.35254397751566685,
          -0.8462461121056889,
          -0.055144205056914725,
          -0.23210216829129252,
          -0.049147682703252836,
          -1.3380024232261005,
          0.4794743167475527
        ],
        "joint_pos_r": [
          -0.6955742718344312,
          -0.8572619545970516,
          0.16368940046120062,
          -1.2563333001973647,
          0.7517322995520155,
          0.553189654185718,
          -1.1856155041920906
        ],
        "eef_pose_l": [
          557.5213934584787,
          401.49909090115455,
          40.20333992013079,
          1.705079949105151,
          -0.20240086763510487,
          0.6930862003215843
        ],
        "eef_pose_r": [
          505.71806860029943,
          -178.1591321922896,
          -22.273763697468667,
          1.4926619516553203,
          -0.027134264134315203,
          2.3712942155871315
        ],
        "joint_status_l": {
          "velocity": [
            -2.220446049250313e-12,
            -4.796163466380676e-11,
            3.3306690738754696e-12,
            9.170442183403793e-11,
            -1.9984014443252818e-12,
            -5.6843418860808015e-11,
            1.3322676295501878e-12
          ],
          "torque": [
            -40.166015625,
            4.84130859375,
            -7.598876953125,
            1.62353515625,
            -6.61376953125,
            -2.025146484375,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.7866924237349693,
            0.6942512314793703,
            0.10847807260527809,
            -2.5446831106901158,
            -13.84780192154711,
            1.8273543976579099,
            11.598773186761946
          ],
          "torque": [
            24.9755859375,
            8.62060546875,
            14.605712890625,
            -10.1318359375,
            -1.70654296875,
            6.2603759765625,
            0.9136962890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.3,
            -8.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -16.3,
            -8.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -4.5,
            -16.7,
            -4.3,
            1.0,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -4.5,
            -16.7,
            -4.3,
            1.0,
            0.0,
            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": 150,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751566685,
          -0.8462461121056889,
          -0.055144205056914725,
          -0.23210216829129252,
          -0.049147682703252836,
          -1.3380024232261005,
          0.4794743167475527
        ],
        "act_joint_pos_r": [
          -0.7033440888006188,
          -0.8534738563231907,
          0.16446602554129505,
          -1.2845559513197555,
          0.5675381120125387,
          0.5716159552851032,
          -1.0349647752543025
        ],
        "act_eef_pose_l": [
          557.5213934584787,
          401.49909090115455,
          40.20333992013079,
          1.705079949105151,
          -0.20240086763510487,
          0.6930862003215843
        ],
        "act_eef_pose_r": [
          483.4838644042035,
          -158.73394812687866,
          -25.62705665307999,
          1.5093993093640028,
          -0.02690905963702512,
          2.486969780958388
        ],
        "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": [
          0.35254397751566297,
          -0.8462461121057671,
          -0.05514420505690923,
          -0.23210216829114255,
          -0.04914768270325613,
          -1.3380024232261938,
          0.47947431674755514
        ],
        "joint_pos_r": [
          -0.6969929843928893,
          -0.8562735089135001,
          0.16385971245825512,
          -1.261187735248335,
          0.722686144001689,
          0.5565175776509848,
          -1.1615983768369278
        ],
        "eef_pose_l": [
          557.5213934584842,
          401.4990909011471,
          40.203339920128656,
          1.7050799491051432,
          -0.20240086763510615,
          0.6930862003215646
        ],
        "eef_pose_r": [
          502.1910289071846,
          -175.0357594372573,
          -22.555889930730785,
          1.4940338133438924,
          -0.027259929298437374,
          2.389794765201596
        ],
        "joint_status_l": {
          "velocity": [
            -1.7763568394002505e-12,
            -3.907985046680551e-11,
            2.7755575615628914e-12,
            7.549516567451064e-11,
            -1.6653345369377348e-12,
            -4.618527782440651e-11,
            1.3322676295501878e-12
          ],
          "torque": [
            -40.107421875,
            4.79736328125,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -2.0233154296875,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.685899046523275,
            0.3023535623114526,
            0.06547988174232522,
            -2.5236929033702893,
            -16.755493277970324,
            1.6305766931958843,
            13.676025618108767
          ],
          "torque": [
            23.66455078125,
            9.48486328125,
            14.422607421875,
            -10.455322265625,
            -1.22314453125,
            5.826416015625,
            1.08123779296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.8,
            -8.6,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.8,
            -8.6,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.8,
            -16.0,
            -3.9,
            1.0,
            0.1,
            0.0
          ],
          "actual_contact_FT": [
            -3.8,
            -16.0,
            -3.9,
            1.0,
            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": 125,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751566297,
          -0.8462461121057671,
          -0.05514420505690923,
          -0.23210216829114255,
          -0.04914768270325613,
          -1.3380024232261938,
          0.47947431674755514
        ],
        "act_joint_pos_r": [
          -0.7035823536712034,
          -0.8592903112927069,
          0.16387393823518664,
          -1.2879324091317579,
          0.5210456174270068,
          0.5691295559806514,
          -1.0046744861999075
        ],
        "act_eef_pose_l": [
          557.5213934584842,
          401.4990909011471,
          40.203339920128656,
          1.7050799491051432,
          -0.20240086763510615,
          0.6930862003215646
        ],
        "act_eef_pose_r": [
          479.0222644042035,
          -152.02274812687867,
          -28.023056653079948,
          1.520069086659566,
          -0.020285514518870718,
          2.5141304043378474
        ],
        "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": [
          0.35254397751565925,
          -0.8462461121058402,
          -0.05514420505690409,
          -0.2321021682910021,
          -0.04914768270325921,
          -1.338002423226281,
          0.47947431674755725
        ],
        "joint_pos_r": [
          -0.6979640771985928,
          -0.8560200610013861,
          0.16393428731966328,
          -1.2648344864035763,
          0.6977643846906161,
          0.5587361139845612,
          -1.1414827663662002
        ],
        "eef_pose_l": [
          557.5213934584893,
          401.49909090114005,
          40.20333992012661,
          1.7050799491051372,
          -0.20240086763510723,
          0.6930862003215469
        ],
        "eef_pose_r": [
          499.3010688732107,
          -172.2484799400928,
          -22.951030778703796,
          1.4959540640869748,
          -0.026878993688308695,
          2.405439747861268
        ],
        "joint_status_l": {
          "velocity": [
            -1.7763568394002505e-12,
            -3.108624468950438e-11,
            2.220446049250313e-12,
            6.017408793468348e-11,
            -1.3322676295501878e-12,
            -3.730349362740526e-11,
            8.881784197001252e-13
          ],
          "torque": [
            -40.12939453125,
            4.79736328125,
            -7.611083984375,
            1.62353515625,
            -6.61376953125,
            -2.0233154296875,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.6067559637310538,
            -0.35317661507416886,
            -0.006517508899683833,
            -2.494502083235872,
            -19.085063980596395,
            1.1224586304301454,
            14.774858496801713
          ],
          "torque": [
            22.63916015625,
            10.52490234375,
            14.83154296875,
            -9.600830078125,
            -0.9503173828125,
            6.375732421875,
            0.85418701171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.8,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.8,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.4,
            -1.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.4,
            -1.5,
            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": 135,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751565925,
          -0.8462461121058402,
          -0.05514420505690409,
          -0.2321021682910021,
          -0.04914768270325921,
          -1.338002423226281,
          0.47947431674755725
        ],
        "act_joint_pos_r": [
          -0.7004449443602496,
          -0.8714052503312218,
          0.16245801835471663,
          -1.2782323382735628,
          0.49802320096002006,
          0.5688229555404285,
          -0.990138160915937
        ],
        "act_eef_pose_l": [
          557.5213934584893,
          401.49909090114005,
          40.20333992012661,
          1.7050799491051372,
          -0.20240086763510723,
          0.6930862003215469
        ],
        "act_eef_pose_r": [
          479.34706440420354,
          -147.00114812687866,
          -29.711856653080076,
          1.5249835628603392,
          -0.015037470148531403,
          2.526150708694957
        ],
        "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": [
          0.352543977515657,
          -0.8462461121058881,
          -0.05514420505690073,
          -0.2321021682909104,
          -0.049147682703261225,
          -1.3380024232263381,
          0.47947431674755875
        ],
        "joint_pos_r": [
          -0.698562054004529,
          -0.8581250141605304,
          0.16374518044020395,
          -1.2676959737446718,
          0.663617696521871,
          0.5605351235931798,
          -1.1154620196216263
        ],
        "eef_pose_l": [
          557.5213934584926,
          401.49909090113545,
          40.203339920125245,
          1.7050799491051332,
          -0.20240086763510784,
          0.693086200321535
        ],
        "eef_pose_r": [
          495.8553535125449,
          -167.84117489000928,
          -23.854779915856113,
          1.4997789471185503,
          -0.024867348079274824,
          2.4264513185654843
        ],
        "joint_status_l": {
          "velocity": [
            -1.3322676295501878e-12,
            -2.6645352591003757e-11,
            1.8318679906315083e-12,
            5.040412531798211e-11,
            -1.1102230246251565e-12,
            -3.197442310920451e-11,
            8.881784197001252e-13
          ],
          "torque": [
            -40.1806640625,
            4.76806640625,
            -7.611083984375,
            1.6357421875,
            -6.6119384765625,
            -2.0196533203125,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.20334616104378256,
            -1.4342232062816151,
            -0.13900940536948347,
            -1.137893808735413,
            -17.883678069789966,
            0.8950594519347987,
            13.534577559187966
          ],
          "torque": [
            23.73779296875,
            3.369140625,
            9.66796875,
            -9.326171875,
            -1.292724609375,
            6.1212158203125,
            0.6591796875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -15.9,
            -7.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.0,
            -15.9,
            -7.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -3.2,
            -17.3,
            -2.6,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.2,
            -17.3,
            -2.6,
            1.0,
            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": 135,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.352543977515657,
          -0.8462461121058881,
          -0.05514420505690073,
          -0.2321021682909104,
          -0.049147682703261225,
          -1.3380024232263381,
          0.47947431674755875
        ],
        "act_joint_pos_r": [
          -0.6960741260779746,
          -0.8789122103616602,
          0.16155536279197405,
          -1.2681514857343028,
          0.49142622619505394,
          0.5700457470046995,
          -0.9827138363312031
        ],
        "act_eef_pose_l": [
          557.5213934584926,
          401.49909090113545,
          40.203339920125245,
          1.7050799491051332,
          -0.20240086763510784,
          0.693086200321535
        ],
        "act_eef_pose_r": [
          481.4966644042035,
          -145.38994812687866,
          -29.710256653080023,
          1.5254714074758484,
          -0.013908830809881468,
          2.5277834621716764
        ],
        "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": [
          0.35254397751565475,
          -0.846246112105931,
          -0.055144205056897724,
          -0.23210216829082803,
          -0.04914768270326303,
          -1.3380024232263896,
          0.47947431674756025
        ],
        "joint_pos_r": [
          -0.6984953487639919,
          -0.8598821633797838,
          0.1635646994814274,
          -1.268158179203525,
          0.6467634576487026,
          0.561430530628092,
          -1.102565230690588
        ],
        "eef_pose_l": [
          557.5213934584957,
          401.49909090113124,
          40.20333992012408,
          1.705079949105129,
          -0.2024008676351086,
          0.6930862003215242
        ],
        "eef_pose_r": [
          494.3806430643017,
          -165.584262044769,
          -24.336718247715368,
          1.5017939115192076,
          -0.02373628634631588,
          2.436601512424695
        ],
        "joint_status_l": {
          "velocity": [
            -8.881784197001252e-13,
            -2.1316282072803006e-11,
            1.4988010832439613e-12,
            4.1522341120980855e-11,
            -8.881784197001252e-13,
            -2.6645352591003757e-11,
            4.440892098500626e-13
          ],
          "torque": [
            -40.166015625,
            4.8193359375,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -2.0233154296875,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.26148433802131166,
            -2.0551844596168323,
            -0.21700196233020996,
            0.0007228733576170043,
            -16.775926217499126,
            0.9304159275229651,
            12.943568840657171
          ],
          "torque": [
            28.9453125,
            -0.71044921875,
            9.86328125,
            -7.366943359375,
            -1.080322265625,
            5.9857177734375,
            0.88348388671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.2,
            -8.0,
            1.3,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -16.2,
            -8.0,
            1.3,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.6,
            -17.2,
            -1.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -17.2,
            -1.6,
            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": 89,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751565475,
          -0.846246112105931,
          -0.055144205056897724,
          -0.23210216829082803,
          -0.04914768270326303,
          -1.3380024232263896,
          0.47947431674756025
        ],
        "act_joint_pos_r": [
          -0.6872761009917556,
          -0.9025175628568552,
          0.1588316781980876,
          -1.2364132891964064,
          0.49083305609625855,
          0.5738120238437402,
          -0.9919399365736498
        ],
        "act_eef_pose_l": [
          557.5213934584957,
          401.49909090113124,
          40.20333992012408,
          1.705079949105129,
          -0.2024008676351086,
          0.6930862003215242
        ],
        "act_eef_pose_r": [
          488.4798644042035,
          -141.38194812687865,
          -30.763056653079957,
          1.5240295703418345,
          0.0008540209555609741,
          2.5230341587263596
        ],
        "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": [
          0.3525439775156533,
          -0.8462461121059641,
          -0.0551442050568954,
          -0.23210216829076494,
          -0.04914768270326441,
          -1.3380024232264287,
          0.47947431674756097
        ],
        "joint_pos_r": [
          -0.6975560048897357,
          -0.8646185376352117,
          0.16305115913549065,
          -1.2663126959575715,
          0.6192640602228734,
          0.5631726308496945,
          -1.0819106232825448
        ],
        "eef_pose_l": [
          557.521393458498,
          401.49909090112806,
          40.20333992012311,
          1.7050799491051263,
          -0.20240086763510853,
          0.6930862003215158
        ],
        "eef_pose_r": [
          492.56748977946364,
          -161.6746578024106,
          -25.208337776667122,
          1.5051281017964238,
          -0.021017370730314903,
          2.4526072427567627
        ],
        "joint_status_l": {
          "velocity": [
            -8.881784197001252e-13,
            -1.7763568394002505e-11,
            1.27675647831893e-12,
            3.4638958368304884e-11,
            -7.771561172376096e-13,
            -2.1316282072803006e-11,
            4.440892098500626e-13
          ],
          "torque": [
            -40.11474609375,
            4.8486328125,
            -7.611083984375,
            1.6357421875,
            -6.61376953125,
            -2.0086669921875,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.1101968774749338,
            -4.092974008121253,
            -0.4556905013666235,
            3.229040694741059,
            -13.870139367780254,
            1.1490205548065902,
            9.716547590309155
          ],
          "torque": [
            34.248046875,
            -4.48974609375,
            9.27734375,
            -0.67138671875,
            -0.6939697265625,
            5.6744384765625,
            0.93109130859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.6,
            -16.1,
            -6.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.6,
            -16.1,
            -6.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.2,
            -1.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.2,
            -1.0,
            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": 91,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156533,
          -0.8462461121059641,
          -0.0551442050568954,
          -0.23210216829076494,
          -0.04914768270326441,
          -1.3380024232264287,
          0.47947431674756097
        ],
        "act_joint_pos_r": [
          -0.6745393459450639,
          -0.9230772690472845,
          0.15658729741654281,
          -1.2069397641846202,
          0.4872439210704824,
          0.5723009526245515,
          -0.9914482984206247
        ],
        "act_eef_pose_l": [
          557.521393458498,
          401.49909090112806,
          40.20333992012311,
          1.7050799491051263,
          -0.20240086763510853,
          0.6930862003215158
        ],
        "act_eef_pose_r": [
          496.4222644042035,
          -138.44914812687864,
          -30.332656653079994,
          1.5255922645973832,
          0.012327568788357439,
          2.5164046978226433
        ],
        "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": [
          0.3525439775156517,
          -0.8462461121059938,
          -0.05514420505689333,
          -0.2321021682907083,
          -0.04914768270326565,
          -1.338002423226464,
          0.47947431674756186
        ],
        "joint_pos_r": [
          -0.6943949726086319,
          -0.8740052167196966,
          0.16200992807298883,
          -1.2577690419041427,
          0.5931303724529297,
          0.5651822638785514,
          -1.06377672468997
        ],
        "eef_pose_l": [
          557.5213934585001,
          401.49909090112527,
          40.203339920122374,
          1.7050799491051234,
          -0.20240086763510914,
          0.6930862003215087
        ],
        "eef_pose_r": [
          492.4811935853786,
          -157.3053027672883,
          -26.198503381727505,
          1.5083634752695834,
          -0.015547609163790685,
          2.466263152487179
        ],
        "joint_status_l": {
          "velocity": [
            -8.881784197001252e-13,
            -1.509903313490213e-11,
            1.0547118733938987e-12,
            2.8421709430404007e-11,
            -6.106226635438361e-13,
            -1.7763568394002505e-11,
            4.440892098500626e-13
          ],
          "torque": [
            -40.1513671875,
            4.86328125,
            -7.60498046875,
            1.6357421875,
            -6.6119384765625,
            -2.0068359375,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.1443444356066266,
            -5.299625347285009,
            -0.5856268387558483,
            5.489400092507424,
            -11.435399480225428,
            0.7687957101500942,
            7.811239656890123
          ],
          "torque": [
            36.1962890625,
            1.57470703125,
            9.686279296875,
            -3.924560546875,
            -0.3826904296875,
            5.057373046875,
            0.69305419921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.2,
            -6.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.2,
            -6.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -17.1,
            -1.9,
            0.9,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -17.1,
            -1.9,
            0.9,
            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": 101,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156517,
          -0.8462461121059938,
          -0.05514420505689333,
          -0.2321021682907083,
          -0.04914768270326565,
          -1.338002423226464,
          0.47947431674756186
        ],
        "act_joint_pos_r": [
          -0.6615187951598617,
          -0.9429937984541953,
          0.15457637136746163,
          -1.1802063379281313,
          0.4886737675698547,
          0.5717422534273814,
          -0.9847017991581307
        ],
        "act_eef_pose_l": [
          557.5213934585001,
          401.49909090112527,
          40.203339920122374,
          1.7050799491051234,
          -0.20240086763510914,
          0.6930862003215087
        ],
        "act_eef_pose_r": [
          504.0982644042035,
          -135.24594812687866,
          -28.515856653080164,
          1.523353451315144,
          0.013187543921992171,
          2.5101623202838153
        ],
        "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": [
          0.35254397751565075,
          -0.8462461121060113,
          -0.05514420505689212,
          -0.23210216829067506,
          -0.04914768270326639,
          -1.3380024232264847,
          0.4794743167475624
        ],
        "joint_pos_r": [
          -0.6888715826183562,
          -0.8864362171032028,
          0.16065515008203024,
          -1.2442857925784574,
          0.5707238455976492,
          0.5666426327795047,
          -1.047703189336637
        ],
        "eef_pose_l": [
          557.5213934585014,
          401.49909090112345,
          40.20333992012195,
          1.705079949105122,
          -0.20240086763510953,
          0.6930862003215045
        ],
        "eef_pose_r": [
          494.1314437796964,
          -152.98787117741279,
          -26.884149848760188,
          1.5112530110717037,
          -0.009499973660830227,
          2.4763743565264527
        ],
        "joint_status_l": {
          "velocity": [
            -4.440892098500626e-13,
            -1.3322676295501878e-11,
            8.881784197001252e-13,
            2.4868995751603507e-11,
            -5.551115123125783e-13,
            -1.5987211554602254e-11,
            4.440892098500626e-13
          ],
          "torque": [
            -40.13671875,
            4.8046875,
            -7.611083984375,
            1.629638671875,
            -6.61376953125,
            -2.0306396484375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.954013921534049,
            -6.108038638936719,
            -0.6564887390732022,
            6.9203769966268425,
            -8.861147081439036,
            0.5507427866797698,
            6.803949467516723
          ],
          "torque": [
            35.50048828125,
            0.38818359375,
            9.234619140625,
            -4.5654296875,
            -0.208740234375,
            5.6304931640625,
            0.75164794921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.5,
            -10.2,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -16.5,
            -10.2,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.4,
            -0.3,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.4,
            -0.3,
            1.1,
            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": 80,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751565075,
          -0.8462461121060113,
          -0.05514420505689212,
          -0.23210216829067506,
          -0.04914768270326639,
          -1.3380024232264847,
          0.4794743167475624
        ],
        "act_joint_pos_r": [
          -0.6567571616543835,
          -0.9511620328080466,
          0.15385906874822805,
          -1.1718766032072434,
          0.4922152620997986,
          0.569411929917343,
          -0.9864671712880293
        ],
        "act_eef_pose_l": [
          557.5213934585014,
          401.49909090112345,
          40.20333992012195,
          1.705079949105122,
          -0.20240086763510953,
          0.6930862003215045
        ],
        "act_eef_pose_r": [
          506.9174644042035,
          -133.44594812687865,
          -27.64225665308004,
          1.5221734059668455,
          0.014446432467397295,
          2.5071619991117684
        ],
        "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": [
          0.35254397751564986,
          -0.8462461121060338,
          -0.055144205056890515,
          -0.2321021682906314,
          -0.04914768270326733,
          -1.3380024232265118,
          0.47947431674756325
        ],
        "joint_pos_r": [
          -0.6836920577395642,
          -0.8970250169442008,
          0.1595286521280131,
          -1.2323554178430063,
          0.5564720499566135,
          0.5673762681827434,
          -1.036691300318723
        ],
        "eef_pose_l": [
          557.521393458503,
          401.49909090112124,
          40.203339920121095,
          1.7050799491051203,
          -0.2024008676351099,
          0.6930862003214985
        ],
        "eef_pose_r": [
          496.1340716304271,
          -149.7541037730806,
          -27.13901142111493,
          1.512990835443535,
          -0.005410432603427955,
          2.482171533682796
        ],
        "joint_status_l": {
          "velocity": [
            -4.440892098500626e-13,
            -1.0658141036401503e-11,
            7.216449660063518e-13,
            2.020605904817785e-11,
            -4.440892098500626e-13,
            -1.2434497875801753e-11,
            4.440892098500626e-13
          ],
          "torque": [
            -40.107421875,
            4.79736328125,
            -7.6171875,
            1.62353515625,
            -6.6119384765625,
            -2.02880859375,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.9088829842827124,
            -5.8466252762992,
            -0.6122969462838412,
            6.531519343797143,
            -6.939528418086205,
            0.21984498335481106,
            5.424045961631485
          ],
          "torque": [
            36.67236328125,
            1.083984375,
            9.228515625,
            -3.912353515625,
            -0.7562255859375,
            5.7843017578125,
            0.53375244140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -15.6,
            -9.8,
            1.3,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -15.6,
            -9.8,
            1.3,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.7,
            -17.6,
            -1.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.7,
            -17.6,
            -1.6,
            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": 120,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751564986,
          -0.8462461121060338,
          -0.055144205056890515,
          -0.2321021682906314,
          -0.04914768270326733,
          -1.3380024232265118,
          0.47947431674756325
        ],
        "act_joint_pos_r": [
          -0.647730222400019,
          -0.9717872038506202,
          0.1519885625255059,
          -1.1506623798575024,
          0.4882497859769597,
          0.5639717382260317,
          -0.97856330659182
        ],
        "act_eef_pose_l": [
          557.521393458503,
          401.49909090112124,
          40.203339920121095,
          1.7050799491051203,
          -0.2024008676351099,
          0.6930862003214985
        ],
        "act_eef_pose_r": [
          512.3062644042035,
          -128.14034812687862,
          -27.633456653079975,
          1.524684853608795,
          0.014081984031738458,
          2.505620638142148
        ],
        "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": [
          0.352543977515649,
          -0.8462461121060525,
          -0.055144205056889224,
          -0.23210216829059604,
          -0.04914768270326812,
          -1.338002423226534,
          0.47947431674756413
        ],
        "joint_pos_r": [
          -0.6798138800074354,
          -0.90485671484723,
          0.15871276589044456,
          -1.2236334287612665,
          0.5474811378436752,
          0.5675784198948275,
          -1.0295924900973112
        ],
        "eef_pose_l": [
          557.5213934585041,
          401.4990909011196,
          40.20333992012061,
          1.7050799491051183,
          -0.20240086763511023,
          0.6930862003214939
        ],
        "eef_pose_r": [
          497.7397435842447,
          -147.4359630530899,
          -27.24297710525579,
          1.51413266622528,
          -0.0026766606402885786,
          2.4856516183804445
        ],
        "joint_status_l": {
          "velocity": [
            -4.440892098500626e-13,
            -8.881784197001252e-12,
            6.106226635438361e-13,
            1.6431300764452317e-11,
            -3.3306690738754696e-13,
            -1.0658141036401503e-11,
            4.440892098500626e-13
          ],
          "torque": [
            -40.166015625,
            4.658203125,
            -7.611083984375,
            1.62353515625,
            -6.61376953125,
            -2.0196533203125,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.464932828870282,
            -7.228279625653755,
            -0.7261925455093188,
            7.880640854528664,
            -6.396797338152904,
            -0.38951013224242104,
            5.510989280653078
          ],
          "torque": [
            37.1630859375,
            1.3037109375,
            9.82666015625,
            -3.3935546875,
            0.054931640625,
            5.4034423828125,
            0.615234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.4,
            -9.0,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.4,
            -9.0,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.9,
            -17.1,
            -0.9,
            1.0,
            0.3,
            -0.1
          ],
          "actual_contact_FT": [
            -0.9,
            -17.1,
            -0.9,
            1.0,
            0.3,
            -0.1
          ]
        },
        "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": 47,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.352543977515649,
          -0.8462461121060525,
          -0.055144205056889224,
          -0.23210216829059604,
          -0.04914768270326812,
          -1.338002423226534,
          0.47947431674756413
        ],
        "act_joint_pos_r": [
          -0.6392671203537166,
          -0.9862220265336266,
          0.15077173751436457,
          -1.1409665604880703,
          0.48066620708430513,
          0.5569453573994977,
          -0.9703485452452698
        ],
        "act_eef_pose_l": [
          557.5213934585041,
          401.4990909011196,
          40.20333992012061,
          1.7050799491051183,
          -0.20240086763511023,
          0.6930862003214939
        ],
        "act_eef_pose_r": [
          515.3878644042036,
          -122.82354812687868,
          -26.283056653080166,
          1.526642759744815,
          0.015930915675625715,
          2.508993382436857
        ],
        "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": [
          0.35254397751564814,
          -0.8462461121060674,
          -0.055144205056888176,
          -0.23210216829056735,
          -0.04914768270326875,
          -1.3380024232265517,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6731862192867019,
          -0.918319454132258,
          0.157386560235508,
          -1.2096374302165598,
          0.5361527844234675,
          0.5661478516043088,
          -1.0196431245887498
        ],
        "eef_pose_l": [
          557.5213934585053,
          401.49909090111817,
          40.20333992012024,
          1.7050799491051167,
          -0.20240086763511023,
          0.6930862003214906
        ],
        "eef_pose_r": [
          500.72023228377157,
          -143.48934343001557,
          -27.270350501379852,
          1.5160258725477254,
          0.0004082828237847598,
          2.4896546407188067
        ],
        "joint_status_l": {
          "velocity": [
            -4.440892098500626e-13,
            -7.105427357601002e-12,
            4.996003610813204e-13,
            1.3322676295501878e-11,
            -2.7755575615628914e-13,
            -8.881784197001252e-12,
            0.0
          ],
          "torque": [
            -40.13671875,
            4.72412109375,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -1.85302734375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.6631546457916997,
            -7.333261536359714,
            -0.7143797843780497,
            7.416235200512489,
            -5.992373617017321,
            -0.9938400623736854,
            5.323657556209227
          ],
          "torque": [
            37.78564453125,
            -0.234375,
            9.228515625,
            -4.510498046875,
            -0.16845703125,
            3.6309814453125,
            0.93658447265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -3.3,
            -16.0,
            -8.5,
            1.3,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -3.3,
            -16.0,
            -8.5,
            1.3,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.9,
            -17.6,
            -1.6,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.9,
            -17.6,
            -1.6,
            1.1,
            0.2,
            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": [
          0.35254397751564814,
          -0.8462461121060674,
          -0.055144205056888176,
          -0.23210216829056735,
          -0.04914768270326875,
          -1.3380024232265517,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6355141889685338,
          -0.9953801026169149,
          0.1501128092235389,
          -1.1381100856622182,
          0.474249136820057,
          0.5545112606287451,
          -0.9661959977438764
        ],
        "act_eef_pose_l": [
          557.5213934585053,
          401.49909090111817,
          40.20333992012024,
          1.7050799491051167,
          -0.20240086763511023,
          0.6930862003214906
        ],
        "act_eef_pose_r": [
          515.8734644042036,
          -118.27314812687865,
          -25.3366566530799,
          1.525960687964681,
          0.0176798648454015,
          2.515543785716958
        ],
        "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": [
          0.35254397751564737,
          -0.846246112106078,
          -0.05514420505688744,
          -0.23210216829054708,
          -0.04914768270326919,
          -1.338002423226564,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.669140610362017,
          -0.9265139459467145,
          0.15660183478246198,
          -1.2017224262582227,
          0.5295186278055534,
          0.5649679713361216,
          -1.013839281438025
        ],
        "eef_pose_l": [
          557.521393458506,
          401.49909090111703,
          40.20333992012007,
          1.7050799491051158,
          -0.20240086763511028,
          0.6930862003214878
        ],
        "eef_pose_r": [
          502.44162628179856,
          -140.931534096992,
          -27.174071834307966,
          1.5170758166596143,
          0.0021949434088080967,
          2.4922804843343087
        ],
        "joint_status_l": {
          "velocity": [
            -4.440892098500626e-13,
            -6.217248937900877e-12,
            3.885780586188048e-13,
            1.1102230246251565e-11,
            -2.220446049250313e-13,
            -7.105427357601002e-12,
            0.0
          ],
          "torque": [
            -40.12939453125,
            4.8046875,
            -7.60498046875,
            1.6357421875,
            -6.61376953125,
            -1.7523193359375,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.6315464037608436,
            -7.437325568188768,
            -0.7007940915468858,
            6.86993016660864,
            -5.968928982283739,
            -1.1292914497254003,
            5.1453228857818445
          ],
          "torque": [
            36.767578125,
            -1.6552734375,
            8.642578125,
            -1.96533203125,
            -0.523681640625,
            3.0816650390625,
            0.6939697265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.7,
            -15.8,
            -7.9,
            1.3,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.7,
            -15.8,
            -7.9,
            1.3,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -16.9,
            -1.4,
            1.0,
            0.3,
            -0.1
          ],
          "actual_contact_FT": [
            -1.8,
            -16.9,
            -1.4,
            1.0,
            0.3,
            -0.1
          ]
        },
        "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": 70,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.35254397751564737,
          -0.846246112106078,
          -0.05514420505688744,
          -0.23210216829054708,
          -0.04914768270326919,
          -1.338002423226564,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6340011890801325,
          -1.0021986619059977,
          0.14959379449980378,
          -1.1333657442318723,
          0.4577919786074585,
          0.5560965881821527,
          -0.9566041096774882
        ],
        "act_eef_pose_l": [
          557.521393458506,
          401.49909090111703,
          40.20333992012007,
          1.7050799491051158,
          -0.20240086763511028,
          0.6930862003214878
        ],
        "act_eef_pose_r": [
          515.3582644042035,
          -114.81314812687867,
          -25.957456653080044,
          1.528420500178003,
          0.022227516407247613,
          2.525084987685941
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121060876,
          -0.05514420505688679,
          -0.23210216829052893,
          -0.04914768270326959,
          -1.3380024232265753,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6622489266604531,
          -0.9409474523365162,
          0.15525241894599295,
          -1.188523524683835,
          0.5169913752434927,
          0.5630014503779854,
          -1.0034351674635777
        ],
        "eef_pose_l": [
          557.5213934585067,
          401.49909090111623,
          40.20333992011987,
          1.7050799491051147,
          -0.2024008676351103,
          0.6930862003214858
        ],
        "eef_pose_r": [
          505.16198867400277,
          -136.1330406405648,
          -26.958289269915554,
          1.5188811832729365,
          0.005586721726019877,
          2.4978808130522103
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            -4.440892098500626e-12,
            3.3306690738754696e-13,
            9.103828801926284e-12,
            -2.220446049250313e-13,
            -5.329070518200751e-12,
            0.0
          ],
          "torque": [
            -40.12939453125,
            4.8046875,
            -7.611083984375,
            1.6357421875,
            -6.6119384765625,
            -1.67724609375,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            3.0506656840998403,
            -6.614935536409128,
            -0.6111134163617749,
            5.956864600483058,
            -6.393346275022971,
            -0.7457031238118361,
            5.057605074810567
          ],
          "torque": [
            36.26220703125,
            -0.47607421875,
            8.43505859375,
            -3.173828125,
            -0.2984619140625,
            2.8692626953125,
            0.76080322265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.1,
            -7.4,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -16.1,
            -7.4,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -16.9,
            -1.2,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -16.9,
            -1.2,
            1.0,
            0.3,
            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": 43,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121060876,
          -0.05514420505688679,
          -0.23210216829052893,
          -0.04914768270326959,
          -1.3380024232265753,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.634225676822841,
          -1.0016847580240549,
          0.14973184437024992,
          -1.1356590690818542,
          0.4574300950435552,
          0.5552326708394505,
          -0.9571880182020911
        ],
        "act_eef_pose_l": [
          557.5213934585067,
          401.49909090111623,
          40.20333992011987,
          1.7050799491051147,
          -0.2024008676351103,
          0.6930862003214858
        ],
        "act_eef_pose_r": [
          514.9046644042035,
          -114.48674812687864,
          -25.793456653080057,
          1.528344086096877,
          0.022648567600409644,
          2.526138949337289
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121060911,
          -0.055144205056886504,
          -0.23210216829052163,
          -0.04914768270326974,
          -1.3380024232265797,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6572706751367206,
          -0.9517401277579319,
          0.15426188020898063,
          -1.178936518120948,
          0.5064983317920746,
          0.5617183227416851,
          -0.9951971435646061
        ],
        "eef_pose_l": [
          557.5213934585071,
          401.4990909011159,
          40.203339920119646,
          1.7050799491051143,
          -0.20240086763511003,
          0.6930862003214849
        ],
        "eef_pose_r": [
          506.9749400951248,
          -132.3709211961675,
          -26.828041535323734,
          1.520414501928824,
          0.00848422943415491,
          2.50284126647611
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            -4.440892098500626e-12,
            3.3306690738754696e-13,
            8.43769498715119e-12,
            -1.6653345369377348e-13,
            -5.329070518200751e-12,
            0.0
          ],
          "torque": [
            -40.1513671875,
            4.74609375,
            -7.611083984375,
            1.62353515625,
            -6.610107421875,
            -1.66259765625,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.4887864150668904,
            -5.393860985314802,
            -0.48922944153173553,
            4.673826649073121,
            -5.299213276899195,
            -0.7004297473702792,
            4.104864472646241
          ],
          "torque": [
            36.38671875,
            -0.05859375,
            8.636474609375,
            -3.3447265625,
            -0.4083251953125,
            2.9388427734375,
            0.736083984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.5,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.5,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.3,
            -17.4,
            -0.7,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.3,
            -17.4,
            -0.7,
            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": 80,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121060911,
          -0.055144205056886504,
          -0.23210216829052163,
          -0.04914768270326974,
          -1.3380024232265797,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6339051379107667,
          -0.9998554407167076,
          0.14994061617123547,
          -1.138106986180012,
          0.46289908329977525,
          0.5533796448026708,
          -0.9638307582502165
        ],
        "act_eef_pose_l": [
          557.5213934585071,
          401.4990909011159,
          40.203339920119646,
          1.7050799491051143,
          -0.20240086763511003,
          0.6930862003214849
        ],
        "act_eef_pose_r": [
          515.1798644042035,
          -115.22514812687865,
          -25.174256653079965,
          1.5274293237985712,
          0.02490490111054616,
          2.523106688844359
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121060997,
          -0.05514420505688591,
          -0.2321021682905052,
          -0.049147682703270114,
          -1.3380024232265901,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6523313108726914,
          -0.9621939904302721,
          0.15331796489489974,
          -1.1699639751380424,
          0.49659311960728625,
          0.5601528776542183,
          -0.9877637403186621
        ],
        "eef_pose_l": [
          557.5213934585075,
          401.499090901115,
          40.20333992011919,
          1.7050799491051143,
          -0.20240086763510956,
          0.6930862003214829
        ],
        "eef_pose_r": [
          508.72340299397047,
          -128.65783146350998,
          -26.59219554852811,
          1.5219106464586194,
          0.011663236182306198,
          2.507560142071229
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            -3.552713678800501e-12,
            2.220446049250313e-13,
            6.661338147750939e-12,
            -1.6653345369377348e-13,
            -3.552713678800501e-12,
            0.0
          ],
          "torque": [
            -40.14404296875,
            4.78271484375,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -1.5966796875,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.9899679889192612,
            -4.067316671841681,
            -0.3647429046389483,
            3.440453336722271,
            -3.6388485991087904,
            -0.7314875738941851,
            2.584685832158762
          ],
          "torque": [
            37.5732421875,
            0.380859375,
            8.538818359375,
            -4.534912109375,
            -0.1483154296875,
            3.0816650390625,
            0.82763671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.5,
            -8.6,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -16.5,
            -8.6,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.8,
            -17.2,
            -0.8,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -17.2,
            -0.8,
            1.1,
            0.3,
            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": 38,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121060997,
          -0.05514420505688591,
          -0.2321021682905052,
          -0.049147682703270114,
          -1.3380024232265901,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.631767518460308,
          -0.9992674441119662,
          0.15000335076102342,
          -1.135196967301698,
          0.47014574521663643,
          0.5521202658294987,
          -0.9672367912322588
        ],
        "act_eef_pose_l": [
          557.5213934585075,
          401.499090901115,
          40.20333992011919,
          1.7050799491051143,
          -0.20240086763510956,
          0.6930862003214829
        ],
        "act_eef_pose_r": [
          517.0662644042035,
          -116.8651481268787,
          -24.380656653079996,
          1.5266361697974695,
          0.024502980251550278,
          2.516429963974334
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061057,
          -0.05514420505688548,
          -0.23210216829049377,
          -0.04914768270327034,
          -1.338002423226597,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6486644896760142,
          -0.9692629003924785,
          0.15268490877130456,
          -1.163691893528066,
          0.49084608318190287,
          0.5587643226558604,
          -0.9835320493619416
        ],
        "eef_pose_l": [
          557.521393458508,
          401.4990909011144,
          40.20333992011882,
          1.7050799491051143,
          -0.20240086763510937,
          0.6930862003214814
        ],
        "eef_pose_r": [
          510.12301809735783,
          -126.27244398833861,
          -26.285727036818713,
          1.5228457334725671,
          0.014099131058778375,
          2.5099555506791993
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            -2.6645352591003757e-12,
            2.220446049250313e-13,
            5.329070518200751e-12,
            -1.1102230246251565e-13,
            -3.552713678800501e-12,
            0.0
          ],
          "torque": [
            -40.107421875,
            4.81201171875,
            -7.6171875,
            1.617431640625,
            -6.6119384765625,
            -1.552734375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.8248190711345202,
            -3.2403951513577667,
            -0.28959972382325283,
            3.0773612705292663,
            -2.235570565619849,
            -0.71753697462551,
            1.7598359744184222
          ],
          "torque": [
            38.759765625,
            0.65185546875,
            8.941650390625,
            -3.84521484375,
            0.1043701171875,
            3.2080078125,
            0.7525634765625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.6,
            -8.4,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.6,
            -8.4,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.4,
            -0.3,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.4,
            -0.3,
            1.0,
            0.3,
            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": 45,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061057,
          -0.05514420505688548,
          -0.23210216829049377,
          -0.04914768270327034,
          -1.338002423226597,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6304202295017851,
          -1.0028022043326694,
          0.14968936764034313,
          -1.1272749272373244,
          0.48009875039704447,
          0.5523212309604435,
          -0.9724656089647035
        ],
        "act_eef_pose_l": [
          557.521393458508,
          401.4990909011144,
          40.20333992011882,
          1.7050799491051143,
          -0.20240086763510937,
          0.6930862003214814
        ],
        "act_eef_pose_r": [
          519.5206644042034,
          -117.67234812687866,
          -24.38225665308005,
          1.525125366069883,
          0.022532743623393227,
          2.5087349975399764
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061106,
          -0.05514420505688517,
          -0.232102168290485,
          -0.04914768270327055,
          -1.3380024232266035,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6462759978148264,
          -0.9735379161084264,
          0.15230289997020213,
          -1.1594973423137038,
          0.48826214739842594,
          0.5578466930376701,
          -0.9814211260360622
        ],
        "eef_pose_l": [
          557.521393458508,
          401.49909090111373,
          40.20333992011862,
          1.7050799491051136,
          -0.202400867635109,
          0.6930862003214788
        ],
        "eef_pose_r": [
          511.16982000340795,
          -124.99693609374587,
          -26.039834472552656,
          1.5233155136635559,
          0.015473255169009627,
          2.5106405606228654
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            -2.6645352591003757e-12,
            1.6653345369377348e-13,
            4.440892098500626e-12,
            -1.1102230246251565e-13,
            -3.552713678800501e-12,
            0.0
          ],
          "torque": [
            -40.17333984375,
            4.78271484375,
            -7.60498046875,
            1.62353515625,
            -6.6119384765625,
            -1.53076171875,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.71237247408218,
            -3.160449915729835,
            -0.28225316701280256,
            3.4799181935483148,
            -0.8816208741317944,
            -0.5967323046620621,
            0.9671673186320007
          ],
          "torque": [
            36.9873046875,
            -0.19775390625,
            8.453369140625,
            -3.955078125,
            0.1226806640625,
            3.328857421875,
            0.7269287109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.3,
            -8.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.3,
            -8.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.1,
            -1.2,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.1,
            -1.2,
            1.0,
            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": 0,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061106,
          -0.05514420505688517,
          -0.232102168290485,
          -0.04914768270327055,
          -1.3380024232266035,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6313655472712378,
          -1.0034040358123055,
          0.149667971577317,
          -1.1296868023042959,
          0.49274925184044754,
          0.5456299795473335,
          -0.9843787929508411
        ],
        "act_eef_pose_l": [
          557.521393458508,
          401.49909090111373,
          40.20333992011862,
          1.7050799491051136,
          -0.202400867635109,
          0.6930862003214788
        ],
        "act_eef_pose_r": [
          520.1982644042034,
          -117.72674812687865,
          -24.73345665308011,
          1.525892510373927,
          0.02176638562505758,
          2.5019960615830965
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061136,
          -0.055144205056884915,
          -0.23210216829047828,
          -0.0491476827032707,
          -1.3380024232266066,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6439758424187191,
          -0.9780480036332597,
          0.15190376421203663,
          -1.1548783008229202,
          0.48845050214393493,
          0.5562528953428955,
          -0.9814060398634963
        ],
        "eef_pose_l": [
          557.5213934585084,
          401.4990909011137,
          40.203339920118395,
          1.7050799491051136,
          -0.20240086763510906,
          0.6930862003214793
        ],
        "eef_pose_r": [
          512.526185226009,
          -123.90174035723557,
          -25.84741835863599,
          1.5236740198058243,
          0.016452088680398096,
          2.5095846213576345
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            -1.7763568394002505e-12,
            1.1102230246251565e-13,
            3.774758283725532e-12,
            -5.551115123125783e-14,
            -1.7763568394002505e-12,
            0.0
          ],
          "torque": [
            -40.13671875,
            4.78271484375,
            -7.60498046875,
            1.62353515625,
            -6.6119384765625,
            -1.51611328125,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.3618717096690602,
            -2.7383707114090328,
            -0.24145848311252216,
            2.7206016001564137,
            0.46425127486360296,
            -1.147241069853866,
            -0.3210478646327175
          ],
          "torque": [
            37.66845703125,
            0.673828125,
            8.4228515625,
            -3.717041015625,
            2.105712890625,
            3.1201171875,
            -0.41290283203125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.7,
            -8.4,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.7,
            -8.4,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.3,
            -0.7,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.3,
            -0.7,
            1.1,
            0.3,
            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": -15,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061136,
          -0.055144205056884915,
          -0.23210216829047828,
          -0.0491476827032707,
          -1.3380024232266066,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6297018606154929,
          -1.0068995726429644,
          0.14935674442059094,
          -1.1221656153183732,
          0.4963048280712487,
          0.5456065084921221,
          -0.9858799357576834
        ],
        "act_eef_pose_l": [
          557.5213934585084,
          401.4990909011137,
          40.203339920118395,
          1.7050799491051136,
          -0.20240086763510906,
          0.6930862003214793
        ],
        "act_eef_pose_r": [
          522.2158644042036,
          -118.12274812687866,
          -24.932656653079903,
          1.5261749984146389,
          0.021827927767166768,
          2.497161012155701
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061169,
          -0.055144205056884714,
          -0.23210216829047228,
          -0.049147682703270794,
          -1.3380024232266097,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6413823684096062,
          -0.9832817474449977,
          0.15144189512242254,
          -1.1491683406305713,
          0.48971120505045457,
          0.5542418125071069,
          -0.98215717701735
        ],
        "eef_pose_l": [
          557.5213934585088,
          401.4990909011135,
          40.20333992011817,
          1.7050799491051136,
          -0.20240086763510873,
          0.6930862003214795
        ],
        "eef_pose_r": [
          514.2447140066674,
          -122.79465988518054,
          -25.682447723957324,
          1.524128026651823,
          0.017460241335516578,
          2.507530336420615
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            -1.7763568394002505e-12,
            1.1102230246251565e-13,
            3.1086244689504383e-12,
            -5.551115123125783e-14,
            -1.7763568394002505e-12,
            0.0
          ],
          "torque": [
            -40.14404296875,
            4.81201171875,
            -7.611083984375,
            1.62353515625,
            -6.61376953125,
            -1.505126953125,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.2614576370602038,
            -2.5506498939824596,
            -0.22518963418449722,
            2.9162083247520343,
            0.712090284264999,
            -0.9325853284845032,
            -0.40204608623994886
          ],
          "torque": [
            38.583984375,
            -0.087890625,
            8.16650390625,
            -4.205322265625,
            2.30712890625,
            3.1109619140625,
            -0.56854248046875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.6,
            -7.9,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.6,
            -7.9,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.2,
            -17.0,
            -1.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.2,
            -17.0,
            -1.1,
            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": 11,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061169,
          -0.055144205056884714,
          -0.23210216829047228,
          -0.049147682703270794,
          -1.3380024232266097,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6271832060810478,
          -1.0100167562213276,
          0.14909360112979747,
          -1.117031436512055,
          0.51287154709948,
          0.5429064638415922,
          -1.0009805980542894
        ],
        "act_eef_pose_l": [
          557.5213934585088,
          401.4990909011135,
          40.20333992011817,
          1.7050799491051136,
          -0.20240086763510873,
          0.6930862003214795
        ],
        "act_eef_pose_r": [
          525.0646644042035,
          -118.91874812687865,
          -23.921456653079986,
          1.5233070479057265,
          0.02434179040456378,
          2.4867637674665453
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061196,
          -0.05514420505688453,
          -0.2321021682904677,
          -0.0491476827032709,
          -1.3380024232266126,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6396940539591315,
          -0.9865258283076284,
          0.15115652056407305,
          -1.145324457478119,
          0.4919649916287724,
          0.5529216810185709,
          -0.9839232588097767
        ],
        "eef_pose_l": [
          557.5213934585089,
          401.49909090111305,
          40.203339920118,
          1.7050799491051132,
          -0.20240086763510867,
          0.6930862003214783
        ],
        "eef_pose_r": [
          515.5052512719345,
          -122.27951497677736,
          -25.51321694119531,
          1.5241323179380446,
          0.018230548583004297,
          2.505318181349722
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            -8.881784197001252e-13,
            1.1102230246251565e-13,
            2.4424906541753444e-12,
            -5.551115123125783e-14,
            -1.7763568394002505e-12,
            0.0
          ],
          "torque": [
            -40.15869140625,
            4.78271484375,
            -7.6171875,
            1.62353515625,
            -6.61376953125,
            -1.490478515625,
            0.3131103515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.3511317213339424,
            -2.536945391474532,
            -0.2227887280994434,
            3.0555561455241076,
            2.2578413993636914,
            -1.0816115546865568,
            -1.842138307441843
          ],
          "torque": [
            39.06005859375,
            -0.59326171875,
            8.502197265625,
            -3.69873046875,
            2.611083984375,
            2.867431640625,
            -0.7049560546875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.4,
            -7.8,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.4,
            -7.8,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.2,
            -1.1,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.2,
            -1.1,
            1.0,
            0.3,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 169,
          "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": [
          0.3525439775156468,
          -0.8462461121061196,
          -0.05514420505688453,
          -0.2321021682904677,
          -0.0491476827032709,
          -1.3380024232266126,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6246792242928012,
          -1.0119806859516451,
          0.14893545845951076,
          -1.114800438841064,
          0.5246041835663848,
          0.5396645701737393,
          -1.0170417335867268
        ],
        "act_eef_pose_l": [
          557.5213934585089,
          401.49909090111305,
          40.203339920118,
          1.7050799491051132,
          -0.20240086763510867,
          0.6930862003214783
        ],
        "act_eef_pose_r": [
          527.0774644042035,
          -119.29954812687868,
          -22.808656653080106,
          1.5214075396281923,
          0.03176799037285575,
          2.479379162576927
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061206,
          -0.05514420505688443,
          -0.23210216829046507,
          -0.04914768270327095,
          -1.3380024232266148,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6371139831941033,
          -0.9911351584958281,
          0.15075297008087268,
          -1.1397844162865507,
          0.4969247733636775,
          0.5507500007964187,
          -0.9885271528108761
        ],
        "eef_pose_l": [
          557.5213934585089,
          401.49909090111305,
          40.203339920118,
          1.705079949105113,
          -0.20240086763510853,
          0.6930862003214779
        ],
        "eef_pose_r": [
          517.5027890375973,
          -121.68223604134243,
          -25.130359727038552,
          1.5237918005277769,
          0.02003826507283313,
          2.50115464551989
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            -8.881784197001252e-13,
            5.551115123125783e-14,
            2.220446049250313e-12,
            -5.551115123125783e-14,
            -1.7763568394002505e-12,
            0.0
          ],
          "torque": [
            -40.166015625,
            4.775390625,
            -7.611083984375,
            1.629638671875,
            -6.6156005859375,
            -1.475830078125,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.3429143541996424,
            -2.2512505681415718,
            -0.19628546597694196,
            2.6981899852529523,
            2.9892881375510605,
            -1.1971911979826722,
            -3.079483899268709
          ],
          "torque": [
            38.06396484375,
            -1.64794921875,
            8.563232421875,
            -3.45458984375,
            2.76123046875,
            2.8985595703125,
            -0.750732421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.6,
            -8.3,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.6,
            -8.3,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.2,
            -0.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.2,
            -0.8,
            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": -28,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061206,
          -0.05514420505688443,
          -0.23210216829046507,
          -0.04914768270327095,
          -1.3380024232266148,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6208546802905041,
          -1.0179120043363445,
          0.14840138625254204,
          -1.1004660865401281,
          0.5310597937777519,
          0.5440038063022565,
          -1.0227546044940365
        ],
        "act_eef_pose_l": [
          557.5213934585089,
          401.49909090111305,
          40.203339920118,
          1.705079949105113,
          -0.20240086763510853,
          0.6930862003214779
        ],
        "act_eef_pose_r": [
          530.6790644042035,
          -120.21874812687867,
          -22.10225665307985,
          1.518235148405792,
          0.035921199489680956,
          2.47179571556598
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061225,
          -0.0551442050568843,
          -0.23210216829046068,
          -0.049147682703271085,
          -1.3380024232266186,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6342850767483512,
          -0.9958362788244192,
          0.1503416281571113,
          -1.1335294177182955,
          0.5030451080517053,
          0.5488935760673139,
          -0.9947516362123499
        ],
        "eef_pose_l": [
          557.5213934585087,
          401.4990909011128,
          40.20333992011797,
          1.7050799491051125,
          -0.2024008676351083,
          0.6930862003214762
        ],
        "eef_pose_r": [
          519.7564507179052,
          -121.28390048597836,
          -24.618949978624784,
          1.5230234601190258,
          0.022770807657050782,
          2.496113631880668
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            -8.881784197001252e-13,
            5.551115123125783e-14,
            1.7763568394002505e-12,
            -5.551115123125783e-14,
            -1.7763568394002505e-12,
            0.0
          ],
          "torque": [
            -40.13671875,
            4.8046875,
            -7.60498046875,
            1.629638671875,
            -6.6119384765625,
            -1.4520263671875,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.4504400390054073,
            -2.384108039779065,
            -0.2095399456432112,
            3.570734454058311,
            3.0254968261540505,
            -0.5280795597522037,
            -3.024231379485265
          ],
          "torque": [
            39.2578125,
            -1.06201171875,
            8.642578125,
            -3.790283203125,
            2.89306640625,
            2.6458740234375,
            -0.72052001953125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.5,
            -8.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.5,
            -8.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.2,
            -17.3,
            -1.2,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.2,
            -17.3,
            -1.2,
            1.0,
            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": -26,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061225,
          -0.0551442050568843,
          -0.23210216829046068,
          -0.049147682703271085,
          -1.3380024232266186,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.620122604440692,
          -1.0179947731623074,
          0.14839913234877425,
          -1.0996931920566357,
          0.5415573744074704,
          0.541381519829538,
          -1.0335789887583786
        ],
        "act_eef_pose_l": [
          557.5213934585087,
          401.4990909011128,
          40.20333992011797,
          1.7050799491051125,
          -0.2024008676351083,
          0.6930862003214762
        ],
        "act_eef_pose_r": [
          531.9670644042035,
          -121.16274812687868,
          -21.691056653080068,
          1.5173341381612786,
          0.038148867039315026,
          2.4651128880084627
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061242,
          -0.0551442050568842,
          -0.23210216829045777,
          -0.04914768270327118,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6315215627109244,
          -1.0002824647120363,
          0.14995128279734987,
          -1.1268145270893766,
          0.50958000941328,
          0.547685103829923,
          -1.0013122491929884
        ],
        "eef_pose_l": [
          557.5213934585089,
          401.49909090111277,
          40.203339920117884,
          1.7050799491051123,
          -0.20240086763510812,
          0.6930862003214762
        ],
        "eef_pose_r": [
          522.081461980743,
          -121.14860832803328,
          -24.093747856368026,
          1.5219727064838873,
          0.025622264194910926,
          2.4906514464805984
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            -8.881784197001252e-13,
            5.551115123125783e-14,
            1.5543122344752192e-12,
            -5.551115123125783e-14,
            0.0,
            0.0
          ],
          "torque": [
            -40.107421875,
            4.79736328125,
            -7.60498046875,
            1.62353515625,
            -6.61376953125,
            -1.4227294921875,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.231051185271781,
            -1.912872895458051,
            -0.1676273045432275,
            2.929017796773792,
            3.45345356520399,
            -0.6807669938924121,
            -3.4847050971782423
          ],
          "torque": [
            39.697265625,
            -0.95947265625,
            8.53271484375,
            -3.399658203125,
            2.7703857421875,
            2.999267578125,
            -0.72235107421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.2,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.2,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.3,
            -0.5,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.3,
            -0.5,
            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": -57,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061242,
          -0.0551442050568842,
          -0.23210216829045777,
          -0.04914768270327118,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6199804480919533,
          -1.018493064025262,
          0.1483646855278535,
          -1.0989186143062417,
          0.5432157634539663,
          0.5409176957986381,
          -1.034799353805947
        ],
        "act_eef_pose_l": [
          557.5213934585089,
          401.49909090111277,
          40.203339920117884,
          1.7050799491051123,
          -0.20240086763510812,
          0.6930862003214762
        ],
        "act_eef_pose_r": [
          532.2806644042034,
          -121.22914812687867,
          -21.72145665307994,
          1.5173447838921656,
          0.03799857726740451,
          2.4639204227508955
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061258,
          -0.0551442050568841,
          -0.23210216829045538,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.630235272076854,
          -1.0022811716050006,
          0.14977613375852195,
          -1.1237540790721938,
          0.513188425561417,
          0.5469737896143124,
          -1.0049533191847349
        ],
        "eef_pose_l": [
          557.5213934585094,
          401.4990909011126,
          40.20333992011771,
          1.705079949105113,
          -0.20240086763510834,
          0.693086200321477
        ],
        "eef_pose_r": [
          523.2055423740198,
          -121.14820944796806,
          -23.828195788304242,
          1.5214394287771562,
          0.027045405883733966,
          2.4877696859900764
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            -8.881784197001252e-13,
            5.551115123125783e-14,
            1.1102230246251565e-12,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.1513671875,
            4.76806640625,
            -7.611083984375,
            1.629638671875,
            -6.6119384765625,
            -1.402587890625,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.0921358938800196,
            -1.6970189172909045,
            -0.1487117662337667,
            2.598499159045531,
            3.0637561147170977,
            -0.6039473242815951,
            -3.091481135590435
          ],
          "torque": [
            40.576171875,
            -1.318359375,
            8.587646484375,
            -4.083251953125,
            2.6806640625,
            3.34716796875,
            -0.86883544921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.4,
            -8.2,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.4,
            -8.2,
            1.4,
            -0.1,
            0.1
          ]
        },
        "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": 213,
          "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": [
          0.3525439775156468,
          -0.8462461121061258,
          -0.0551442050568841,
          -0.23210216829045538,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6202393001234814,
          -1.0199313149081943,
          0.14826318548017933,
          -1.0995448702756998,
          0.5502419067898607,
          0.5365327956717078,
          -1.041415369165972
        ],
        "act_eef_pose_l": [
          557.5213934585094,
          401.4990909011126,
          40.20333992011771,
          1.705079949105113,
          -0.20240086763510834,
          0.693086200321477
        ],
        "act_eef_pose_r": [
          532.8030644042035,
          -120.87874812687863,
          -22.04785665308009,
          1.5183896280421882,
          0.03743790904933384,
          2.460287667072236
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061273,
          -0.055144205056884006,
          -0.23210216829045344,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6290913558727353,
          -1.0041670504141282,
          0.14961286622593234,
          -1.1209894340339208,
          0.5168631055577824,
          0.5461040806684524,
          -1.0085953927058342
        ],
        "eef_pose_l": [
          557.5213934585096,
          401.49909090111237,
          40.203339920117514,
          1.705079949105113,
          -0.2024008676351083,
          0.693086200321477
        ],
        "eef_pose_r": [
          524.2566520346795,
          -121.13946670139349,
          -23.60727125535479,
          1.5210063745289848,
          0.028268909656047895,
          2.484930090477426
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            -8.881784197001252e-13,
            5.551115123125783e-14,
            8.881784197001252e-13,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.10009765625,
            4.78271484375,
            -7.611083984375,
            1.62353515625,
            -6.6119384765625,
            -1.38427734375,
            0.3167724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.9559938253884681,
            -1.7024903530895585,
            -0.1457612215440829,
            2.3159445807543477,
            3.6048042150471638,
            -1.0336682932319263,
            -3.5444529196437813
          ],
          "torque": [
            39.64599609375,
            -1.201171875,
            8.587646484375,
            -4.638671875,
            2.7960205078125,
            3.489990234375,
            -0.7452392578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.0,
            -16.4,
            -8.1,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.0,
            -16.4,
            -8.1,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.4,
            -0.9,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.4,
            -0.9,
            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": -62,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061273,
          -0.055144205056884006,
          -0.23210216829045344,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6202266302484077,
          -1.0228662781507853,
          0.14801981063928382,
          -1.095313241390321,
          0.5491621087635354,
          0.539136260721802,
          -1.039422812012349
        ],
        "act_eef_pose_l": [
          557.5213934585096,
          401.49909090111237,
          40.203339920117514,
          1.705079949105113,
          -0.2024008676351083,
          0.693086200321477
        ],
        "act_eef_pose_r": [
          533.1574644042034,
          -120.21554812687867,
          -22.324656653079956,
          1.5173897161424093,
          0.03636203224228335,
          2.4610839208342905
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829045183,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6273102601185148,
          -1.007589065060971,
          0.14932056444177044,
          -1.1163138363263272,
          0.5234823121092399,
          0.5444030483481936,
          -1.0150238353842822
        ],
        "eef_pose_l": [
          557.5213934585097,
          401.4990909011129,
          40.203339920117486,
          1.7050799491051138,
          -0.20240086763510845,
          0.6930862003214786
        ],
        "eef_pose_r": [
          526.0186314554603,
          -121.02873166225396,
          -23.319393961948464,
          1.520359670097659,
          0.03003525946499503,
          2.4800311758093523
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            8.881784197001252e-13,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.17333984375,
            4.78271484375,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -1.3641357421875,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.7650094632234428,
            -1.649890352784844,
            -0.14047726751287293,
            2.2679973620824967,
            2.7733362434836373,
            -0.5687962879008523,
            -2.6350117603133327
          ],
          "torque": [
            39.111328125,
            -1.552734375,
            8.544921875,
            -3.326416015625,
            2.501220703125,
            3.37646484375,
            -0.78094482421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.5,
            -8.0,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -16.5,
            -8.0,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.5,
            -1.1,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.5,
            -1.1,
            1.1,
            0.3,
            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": -66,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829045183,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6193997164673029,
          -1.0256162800639455,
          0.14778195568625355,
          -1.0891271732547638,
          0.5458624353839667,
          0.5406244068983032,
          -1.0342192624134512
        ],
        "act_eef_pose_l": [
          557.5213934585097,
          401.4990909011129,
          40.203339920117486,
          1.7050799491051138,
          -0.20240086763510845,
          0.6930862003214786
        ],
        "act_eef_pose_r": [
          534.1150644042035,
          -120.18514812687863,
          -22.843056653079884,
          1.5184549696626026,
          0.03514168121116305,
          2.4605760920117357
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829045052,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6259115694891997,
          -1.0106753047461123,
          0.1490575239843564,
          -1.111897918871885,
          0.5280988336394044,
          0.5435147281406678,
          -1.0192609616334645
        ],
        "eef_pose_l": [
          557.5213934585097,
          401.4990909011133,
          40.20333992011746,
          1.7050799491051143,
          -0.20240086763510873,
          0.6930862003214799
        ],
        "eef_pose_r": [
          527.4458637274929,
          -120.87241775132219,
          -23.173177885509546,
          1.5198609529415221,
          0.031147837639584435,
          2.476409686781135
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            6.661338147750939e-13,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.11474609375,
            4.775390625,
            -7.60498046875,
            1.629638671875,
            -6.6119384765625,
            -1.34765625,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.703259384838617,
            -1.613577744393524,
            -0.13775731326060026,
            2.4591679973662295,
            1.918412407862835,
            -0.3121454879364549,
            -1.6154488391215693
          ],
          "torque": [
            39.10400390625,
            -0.3955078125,
            8.795166015625,
            -3.89404296875,
            2.6239013671875,
            3.350830078125,
            -0.76904296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.6,
            -8.6,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.6,
            -8.6,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.3,
            -1.1,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.3,
            -1.1,
            1.1,
            0.3,
            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": -122,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829045052,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6186317937909283,
          -1.0272517056932058,
          0.1476436033077072,
          -1.085623299194904,
          0.5446731737299793,
          0.5398256012538604,
          -1.032375967056933
        ],
        "act_eef_pose_l": [
          557.5213934585097,
          401.4990909011133,
          40.20333992011746,
          1.7050799491051143,
          -0.20240086763510873,
          0.6930862003214799
        ],
        "act_eef_pose_r": [
          534.9158644042035,
          -120.26434812687864,
          -23.21345665308013,
          1.5200310264791779,
          0.035115459247317404,
          2.45917789565329
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044983,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.624625219246945,
          -1.013617620126016,
          0.14880641883073029,
          -1.1073407681859675,
          0.5313710651820992,
          0.5429107549717501,
          -1.0219557303023676
        ],
        "eef_pose_l": [
          557.5213934585097,
          401.4990909011135,
          40.20333992011743,
          1.7050799491051143,
          -0.2024008676351089,
          0.6930862003214804
        ],
        "eef_pose_r": [
          528.7715865467889,
          -120.74802256199942,
          -23.143598469117762,
          1.5197056968844795,
          0.03190029005625024,
          2.4733136516805136
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            6.661338147750939e-13,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.1220703125,
            4.76806640625,
            -7.60498046875,
            1.62353515625,
            -6.6119384765625,
            -1.336669921875,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.647270859015947,
            -1.4724378140238414,
            -0.12558037269139177,
            2.345417476644407,
            1.4365853533506723,
            -0.33318677471338987,
            -1.1253523789989117
          ],
          "torque": [
            40.1513671875,
            -0.3515625,
            8.6669921875,
            -4.40673828125,
            2.5653076171875,
            3.310546875,
            -0.5712890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.4,
            -9.1,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.4,
            -9.1,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.5,
            -1.2,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.5,
            -1.2,
            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": -110,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044983,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6184557372096147,
          -1.029067773590366,
          0.14749899485579684,
          -1.0831983028230745,
          0.5498925973917528,
          0.537589170903588,
          -1.0340836102383395
        ],
        "act_eef_pose_l": [
          557.5213934585097,
          401.4990909011135,
          40.20333992011743,
          1.7050799491051143,
          -0.2024008676351089,
          0.6930862003214804
        ],
        "act_eef_pose_r": [
          535.8678644042035,
          -120.37234812687865,
          -23.58145665307984,
          1.5208227292344862,
          0.032196985001974245,
          2.4553771679371237
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044883,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6234677668891351,
          -1.0164474100556067,
          0.14856650230678092,
          -1.102898275062874,
          0.5346111820519426,
          0.5420166718927694,
          -1.024162912080155
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.49909090111385,
          40.20333992011737,
          1.7050799491051145,
          -0.20240086763510898,
          0.6930862003214814
        ],
        "eef_pose_r": [
          530.159626845561,
          -120.66662986439863,
          -23.218575966132164,
          1.5198851177803014,
          0.032102269596687855,
          2.469889007765913
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            4.440892098500626e-13,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.11474609375,
            4.76806640625,
            -7.611083984375,
            1.62353515625,
            -6.61376953125,
            -1.314697265625,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5412832410929269,
            -1.3629590634245403,
            -0.11528740448607522,
            2.1275342536295483,
            1.6503441823996212,
            -0.478156004374064,
            -1.071403801717885
          ],
          "torque": [
            39.73388671875,
            -0.9375,
            8.624267578125,
            -3.77197265625,
            2.40234375,
            3.27392578125,
            -0.5438232421875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.6,
            -8.2,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.6,
            -8.2,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.1,
            -1.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.1,
            -1.0,
            1.1,
            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": -118,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044883,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6177065991783737,
          -1.0289643031418583,
          0.14751913034225267,
          -1.0846510091067254,
          0.5507432839450628,
          0.5334497334384759,
          -1.0347169592698684
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.49909090111385,
          40.20333992011737,
          1.7050799491051145,
          -0.20240086763510898,
          0.6930862003214814
        ],
        "act_eef_pose_r": [
          536.1662644042035,
          -120.30434812687866,
          -23.57825665307996,
          1.522941683720611,
          0.032265033354263596,
          2.4539986294821565
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044797,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6223955870898774,
          -1.0189762777471942,
          0.14835357289402387,
          -1.09906169096238,
          0.5377570935222964,
          0.5407708527368934,
          -1.0262122023848674
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.4990909011141,
          40.203339920117344,
          1.7050799491051147,
          -0.20240086763510928,
          0.6930862003214823
        ],
        "eef_pose_r": [
          531.270270461733,
          -120.60483886148629,
          -23.28960172347641,
          1.5202373621232717,
          0.03212583793555801,
          2.4670206978186195
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            4.440892098500626e-13,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.166015625,
            4.8193359375,
            -7.611083984375,
            1.617431640625,
            -6.61376953125,
            -1.3201904296875,
            0.3167724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5063957590989432,
            -1.0786749288067554,
            -0.09011713772855146,
            1.5563077395679414,
            1.4024672020993556,
            -0.7906575650311609,
            -0.9184866542639725
          ],
          "torque": [
            39.580078125,
            -0.263671875,
            8.4716796875,
            -3.533935546875,
            2.567138671875,
            3.1622314453125,
            -0.6280517578125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.3,
            -7.9,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.3,
            -7.9,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.2,
            -1.0,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.2,
            -1.0,
            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": -139,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044797,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6177818328257594,
          -1.0288413129968237,
          0.14754342903034265,
          -1.086776434593186,
          0.5558059790600551,
          0.5294448789236066,
          -1.0401814591219487
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.4990909011141,
          40.203339920117344,
          1.7050799491051147,
          -0.20240086763510928,
          0.6930862003214823
        ],
        "act_eef_pose_r": [
          536.3766644042034,
          -120.27634812687864,
          -23.643056653080066,
          1.5240181860704947,
          0.03266640595465657,
          2.45136821279379
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.2321021682904473,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6218708402665416,
          -1.0200962078011624,
          0.1482608240321335,
          -1.0975590569544202,
          0.5395166840395187,
          0.5397119957297035,
          -1.0274894440761624
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.4990909011144,
          40.203339920117344,
          1.7050799491051147,
          -0.20240086763510934,
          0.6930862003214824
        ],
        "eef_pose_r": [
          531.8385637787129,
          -120.56933760667567,
          -23.325975411964123,
          1.5205967024777853,
          0.03216620299218799,
          2.465390375882037
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            2.220446049250313e-13,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.12939453125,
            4.8046875,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -1.3275146484375,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.44159977931546024,
            -0.944443506257997,
            -0.07747637514987638,
            1.1644888702502243,
            1.759191977623864,
            -1.1088159122811803,
            -1.3706971983911131
          ],
          "torque": [
            39.86572265625,
            -0.40283203125,
            8.58154296875,
            -4.3212890625,
            2.8912353515625,
            2.98095703125,
            -0.596923828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.4,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.4,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.3,
            -1.3,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.3,
            -1.3,
            1.1,
            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": -116,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.2321021682904473,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6162649456698199,
          -1.0333813426965759,
          0.14715610125985923,
          -1.077391949518455,
          0.5549941661969355,
          0.5301869812960148,
          -1.0380068643961222
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.4990909011144,
          40.203339920117344,
          1.7050799491051147,
          -0.20240086763510934,
          0.6930862003214824
        ],
        "act_eef_pose_r": [
          538.2622644042035,
          -120.35714812687866,
          -24.28225665308014,
          1.5254064411332644,
          0.03288478419803047,
          2.448138756619233
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044694,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6212673905426304,
          -1.0214621011209466,
          0.14814790914893916,
          -1.0956548819623502,
          0.5415223146898377,
          0.5384612394542722,
          -1.028962548367453
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.49909090111447,
          40.203339920117344,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214832
        ],
        "eef_pose_r": [
          532.5246641402977,
          -120.53697009311577,
          -23.403604066699643,
          1.5210996035546278,
          0.03224245065282608,
          2.463426441347429
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            2.220446049250313e-13,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.12939453125,
            4.8046875,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -1.32568359375,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5402481124967551,
            -1.287240125049216,
            -0.10711209291835999,
            1.972338532925555,
            1.4549170522815125,
            -0.893593525959524,
            -0.9767573231780347
          ],
          "torque": [
            41.0302734375,
            -3.3984375,
            8.380126953125,
            -2.960205078125,
            2.5946044921875,
            2.9278564453125,
            -0.69122314453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.5,
            -7.9,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.5,
            -7.9,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.1,
            -0.9,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.1,
            -0.9,
            1.1,
            0.3,
            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": -135,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044694,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6141748323315812,
          -1.0375532411175574,
          0.14678474939104771,
          -1.0653495209249553,
          0.5505556025506007,
          0.5338860103650936,
          -1.0313196804219191
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.49909090111447,
          40.203339920117344,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214832
        ],
        "act_eef_pose_r": [
          540.4014644042036,
          -121.06674812687868,
          -24.788656653079897,
          1.526334311214615,
          0.03304487850472953,
          2.445527560651183
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.2321021682904465,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6202322154073032,
          -1.02387032440729,
          0.1479457740569704,
          -1.0915575618118005,
          0.543584223094036,
          0.5372649875141111,
          -1.0300795018193962
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.4990909011146,
          40.203339920117315,
          1.7050799491051154,
          -0.20240086763510948,
          0.6930862003214834
        ],
        "eef_pose_r": [
          533.7005802664191,
          -120.55498264588658,
          -23.600741306260147,
          1.5219272866937816,
          0.03236401881958629,
          2.46053027501913
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            2.220446049250313e-13,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.13671875,
            4.78271484375,
            -7.60498046875,
            1.629638671875,
            -6.61376953125,
            -1.32568359375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6541780782267637,
            -1.4777114219395315,
            -0.12538696582886644,
            2.8303849380382218,
            0.7528867761004143,
            -0.36491876939059864,
            -0.13393533886052467
          ],
          "torque": [
            40.40771484375,
            0.46875,
            8.43505859375,
            -2.996826171875,
            2.4151611328125,
            2.904052734375,
            -0.59417724609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.6,
            -16.1,
            -8.4,
            1.4,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.6,
            -16.1,
            -8.4,
            1.4,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -16.9,
            -2.2,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -16.9,
            -2.2,
            1.1,
            0.3,
            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": -194,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.2321021682904465,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6127605959147586,
          -1.040161985714729,
          0.14656205773020453,
          -1.0586906302983239,
          0.559749218506428,
          0.5325501802924529,
          -1.0355884193478488
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.4990909011146,
          40.203339920117315,
          1.7050799491051154,
          -0.20240086763510948,
          0.6930862003214834
        ],
        "act_eef_pose_r": [
          542.6686644042036,
          -122.17554812687865,
          -24.83905665307998,
          1.5262129710030985,
          0.03085934143097461,
          2.437607424137117
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044614,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.618801615383132,
          -1.0270436101654175,
          0.14767638129407934,
          -1.0853141754119322,
          0.5459832381706212,
          0.5364125584770782,
          -1.0307681914946085
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.49909090111476,
          40.20333992011729,
          1.7050799491051147,
          -0.20240086763510942,
          0.6930862003214834
        ],
        "eef_pose_r": [
          535.3635910658662,
          -120.77020866614806,
          -23.868574305324813,
          1.5228608654741034,
          0.03228416614500021,
          2.456547968329136
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            2.220446049250313e-13,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.13671875,
            4.81201171875,
            -7.60498046875,
            1.629638671875,
            -6.6119384765625,
            -1.3275146484375,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6524108607548484,
            -1.4167427747304728,
            -0.12034339555988538,
            2.8752580710662556,
            1.4866820289243243,
            -0.4171245415087732,
            -0.5205692547800567
          ],
          "torque": [
            39.9755859375,
            -0.849609375,
            8.648681640625,
            -3.546142578125,
            2.530517578125,
            2.940673828125,
            -0.71685791015625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.3,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.3,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.2,
            -0.5,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.2,
            -0.5,
            1.1,
            0.3,
            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": -145,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044614,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6134350826784023,
          -1.0405618152454872,
          0.14654235299584836,
          -1.0594563087271205,
          0.5722751776094136,
          0.5295257076133392,
          -1.0437379789784622
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.49909090111476,
          40.20333992011729,
          1.7050799491051147,
          -0.20240086763510942,
          0.6930862003214834
        ],
        "act_eef_pose_r": [
          543.3726644042035,
          -122.62914812687865,
          -24.88945665308006,
          1.5253289872768725,
          0.027055319815066557,
          2.4317163043355428
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044586,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6178476942369128,
          -1.029223443933921,
          0.1474920466591501,
          -1.0809818821681159,
          0.5489741819308815,
          0.5356018500586288,
          -1.032034183633492
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.49909090111487,
          40.203339920117315,
          1.7050799491051152,
          -0.20240086763510964,
          0.693086200321484
        ],
        "eef_pose_r": [
          536.6141172912147,
          -121.023669933962,
          -24.035714771282727,
          1.5233573809549448,
          0.03182438631840591,
          2.4530898759008806
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            2.220446049250313e-13,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.14404296875,
            4.78271484375,
            -7.611083984375,
            1.629638671875,
            -6.61376953125,
            -1.32568359375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.47654799328800124,
            -1.224507986716361,
            -0.10256389067642147,
            2.324693368461972,
            2.5164333150478058,
            -0.6562040303883521,
            -1.2639726183767408
          ],
          "torque": [
            40.78125,
            -0.0439453125,
            8.795166015625,
            -3.74755859375,
            2.8619384765625,
            2.874755859375,
            -0.7763671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.4,
            -8.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.4,
            -8.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.4,
            -0.7,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.4,
            -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": -125,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044586,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6142367769243435,
          -1.0384276404195416,
          0.14673196139254613,
          -1.065384462099805,
          0.5763460062860674,
          0.5255799447501184,
          -1.047627154851964
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.49909090111487,
          40.203339920117315,
          1.7050799491051152,
          -0.20240086763510964,
          0.693086200321484
        ],
        "act_eef_pose_r": [
          542.6910644042034,
          -122.56514812687863,
          -24.80225665308012,
          1.5261281826170354,
          0.02603684930507781,
          2.4311192379052695
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044547,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6170297123929035,
          -1.0313140171603192,
          0.14731858898051453,
          -1.0772978297099163,
          0.554554110705616,
          0.5337089750835045,
          -1.03511688973149
        ],
        "eef_pose_l": [
          557.5213934585099,
          401.499090901115,
          40.20333992011729,
          1.7050799491051154,
          -0.20240086763510953,
          0.6930862003214843
        ],
        "eef_pose_r": [
          537.9598105166397,
          -121.35236839726124,
          -24.201208243036547,
          1.5238686728102617,
          0.030655913372646892,
          2.4484336964013482
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            2.220446049250313e-13,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.15869140625,
            4.78271484375,
            -7.611083984375,
            1.629638671875,
            -6.6119384765625,
            -1.32568359375,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.3016281345589178,
            -0.768248653712611,
            -0.06335391097689325,
            1.286605755484338,
            2.3534553112343204,
            -0.8779093834530016,
            -1.351068785367282
          ],
          "torque": [
            39.1845703125,
            -1.28173828125,
            8.599853515625,
            -3.45458984375,
            2.4993896484375,
            3.2354736328125,
            -0.8111572265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.6,
            -8.4,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.6,
            -8.4,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -17.2,
            -0.8,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -17.2,
            -0.8,
            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": -162,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044547,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6138873376874247,
          -1.038446814342877,
          0.14675158261353383,
          -1.0686538111221857,
          0.5793244748049529,
          0.5249848932142263,
          -1.0501177639726431
        ],
        "act_eef_pose_l": [
          557.5213934585099,
          401.499090901115,
          40.20333992011729,
          1.7050799491051154,
          -0.20240086763510953,
          0.6930862003214843
        ],
        "act_eef_pose_r": [
          542.3022644042035,
          -121.76594812687864,
          -23.97105665308004,
          1.5240724330489916,
          0.025363488543952293,
          2.4322758156678193
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6164873241784462,
          -1.0325744308247218,
          0.14721759573577692,
          -1.0756459014821582,
          0.558821122573218,
          0.5321889791393982,
          -1.037675016488118
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          538.7475456902102,
          -121.45492646415671,
          -24.187836336545786,
          1.523956324977168,
          0.02975193213494168,
          2.445520038897159
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.13671875,
            4.7900390625,
            -7.611083984375,
            1.629638671875,
            -6.6119384765625,
            -1.32568359375,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.28079025956451176,
            -0.6341987152689299,
            -0.0503279328594175,
            0.7551234877007929,
            2.2142967338361075,
            -0.7780183334946678,
            -1.3437770957409612
          ],
          "torque": [
            39.98291015625,
            -1.875,
            12.4755859375,
            -3.436279296875,
            2.6715087890625,
            3.15673828125,
            -0.53375244140625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.3,
            -8.1,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.3,
            -8.1,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.3,
            -0.8,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.3,
            -0.8,
            1.1,
            0.3,
            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": -160,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6136621948545922,
          -1.0411960908411164,
          0.14654443873806092,
          -1.0667181305157643,
          0.5812249802204411,
          0.5266574873715049,
          -1.0516587489400924
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          542.4934644042035,
          -120.73954812687867,
          -23.707856653079943,
          1.5218843072301997,
          0.024873482365440028,
          2.4329797282098107
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6161434362256722,
          -1.033512706319228,
          0.14714393252651112,
          -1.0746251802957107,
          0.5615420199820252,
          0.531401704827582,
          -1.0393541805965372
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          539.2119441299392,
          -121.41998809225747,
          -24.13932101850341,
          1.523798003626407,
          0.029167897136197312,
          2.4438952074325497
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.1220703125,
            4.75341796875,
            -7.611083984375,
            1.62353515625,
            -6.61376953125,
            -1.3275146484375,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.26796616483792945,
            -0.8297810552795326,
            -0.06474341964746166,
            0.8539361907331511,
            2.1256970116665386,
            -0.5123603739951577,
            -1.3288541886442573
          ],
          "torque": [
            39.55078125,
            -1.16455078125,
            8.612060546875,
            -3.91845703125,
            2.347412109375,
            3.18603515625,
            -0.64453125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.5,
            -8.2,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.5,
            -8.2,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -16.6,
            -1.0,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -16.6,
            -1.0,
            1.0,
            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": -185,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6138888809433825,
          -1.0418170525283983,
          0.14649524657130694,
          -1.065760774533653,
          0.5820007447782793,
          0.5273453262843795,
          -1.0509773807930125
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          542.5790644042036,
          -120.66754812687867,
          -23.819856653080024,
          1.5214626388285624,
          0.023347778236327606,
          2.4327751046103114
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.615843918608609,
          -1.0345170635766097,
          0.14706552474392706,
          -1.0735730885583294,
          0.5640675799317869,
          0.5308438005711235,
          -1.040865229265091
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          539.6324615908601,
          -121.32998268665843,
          -24.089825811941694,
          1.5235200714335948,
          0.028541476259933363,
          2.4425034987500527
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.12939453125,
            4.78271484375,
            -7.611083984375,
            1.629638671875,
            -6.61376953125,
            -1.32568359375,
            0.3167724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.21113784066706387,
            -0.78837555489919,
            -0.061588226195397056,
            0.8437050309160199,
            1.9367246827801665,
            -0.377824079643041,
            -1.092080155832953
          ],
          "torque": [
            40.58349609375,
            -0.54931640625,
            9.014892578125,
            -2.9052734375,
            2.735595703125,
            3.2464599609375,
            -0.76080322265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.3,
            -8.3,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.3,
            -8.3,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.3,
            -0.8,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.3,
            -0.8,
            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": -141,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.617919773873953,
          -1.036160131200722,
          0.14695963682777313,
          -1.075760486696957,
          0.5742894620068029,
          0.5255576095575407,
          -1.0456225507798342
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          539.6054644042035,
          -120.62034812687864,
          -25.12145665308003,
          1.524990118768984,
          0.021440909274223655,
          2.4388310698988107
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6158205406987941,
          -1.0354111826205308,
          0.14699760557977898,
          -1.0729551053983157,
          0.5667953228917227,
          0.5300289196249366,
          -1.042316896680145
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          539.935857744381,
          -121.20075503775372,
          -24.149028997846727,
          1.5234230470820649,
          0.02739853766888919,
          2.4411809463581062
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.12939453125,
            4.7607421875,
            -7.611083984375,
            1.629638671875,
            -6.61376953125,
            -1.32568359375,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.22671049644884533,
            -0.0808840611128403,
            -0.004100504278792272,
            -0.3029722445644367,
            0.8093431541276175,
            -0.48288724528111615,
            -0.3570001136106171
          ],
          "torque": [
            30.71044921875,
            0.29296875,
            14.300537109375,
            -7.012939453125,
            2.559814453125,
            3.0780029296875,
            -0.81298828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.7,
            -8.8,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.7,
            -8.8,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.1,
            -17.0,
            -1.1,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -17.0,
            -1.1,
            1.0,
            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": -150,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6197084380922613,
          -1.0373792587183943,
          0.14681748905130926,
          -1.0664829896573293,
          0.549020289425802,
          0.5313536533483327,
          -1.0245441336048902
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          538.9350644042036,
          -120.89954812687864,
          -28.09105665307993,
          1.531951079330791,
          0.02312133631873082,
          2.4460075461048856
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6163206685900763,
          -1.0356315042516258,
          0.14698064328198737,
          -1.072782196638074,
          0.5662983981631148,
          0.5296562593067188,
          -1.0413815733807683
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          539.8305020536208,
          -121.11789347835281,
          -24.533553257420664,
          1.5241939540108942,
          0.026470558641225602,
          2.441283543669228
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.11474609375,
            4.78271484375,
            -7.6171875,
            1.629638671875,
            -6.61376953125,
            -1.329345703125,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.36586831552654075,
            -0.18875191546996462,
            -0.017620137235052624,
            0.6802942897135011,
            -1.8659807094705272,
            0.1833131499617835,
            1.8183898652530672
          ],
          "torque": [
            27.744140625,
            -0.53466796875,
            15.069580078125,
            -3.96728515625,
            0.567626953125,
            4.3377685546875,
            0.13275146484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.4,
            -9.1,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -16.4,
            -9.1,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.5,
            -16.1,
            -0.9,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.5,
            -16.1,
            -0.9,
            1.0,
            0.3,
            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": -127,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.61902456149154,
          -1.0364748236597023,
          0.14688647263401997,
          -1.067177287506512,
          0.5487079367125669,
          0.5258837393810809,
          -1.0228542130551102
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          539.5022644042035,
          -121.56194812687863,
          -28.58065665308004,
          1.536219012173466,
          0.02229825700457959,
          2.4431582107925762
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6169117739426074,
          -1.0358966833017678,
          0.14695477491971726,
          -1.0716414730389576,
          0.5630096737789035,
          0.5295827393569567,
          -1.0380768267201124
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          539.7034386332139,
          -121.12245528309654,
          -25.239771029123972,
          1.5259604838057954,
          0.025783823418573784,
          2.441980494202355
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.10009765625,
            4.7900390625,
            -7.611083984375,
            1.6357421875,
            -6.6119384765625,
            -1.32568359375,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.2281743256427049,
            -0.062437317166263995,
            -0.007376429299155163,
            0.48211781819951227,
            -1.544542049331632,
            -0.39948021535574085,
            1.6439937888153011
          ],
          "torque": [
            26.75537109375,
            -0.56396484375,
            15.362548828125,
            -3.69873046875,
            -0.05859375,
            3.109130859375,
            0.618896484375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.6,
            -16.5,
            -8.5,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.6,
            -16.5,
            -8.5,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -16.9,
            -0.9,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -16.9,
            -0.9,
            1.0,
            0.3,
            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": -78,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6164696941289048,
          -1.0378566367616018,
          0.14677933505174348,
          -1.065816697088988,
          0.5535345022316411,
          0.5226115619170774,
          -1.0273317384703335
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          540.8950644042035,
          -121.65074812687863,
          -27.691056653080068,
          1.536152588191391,
          0.02423077180395001,
          2.439373327893168
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6169560302135024,
          -1.0361980519684653,
          0.14692697061319557,
          -1.0706084477991036,
          0.5609770311216646,
          0.5284286427177902,
          -1.0358215859784616
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          539.8589353765186,
          -121.21516091745146,
          -25.747935819653605,
          1.5278916331048897,
          0.025392652024648157,
          2.441690138231053
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.12939453125,
            4.81201171875,
            -7.611083984375,
            1.629638671875,
            -6.6119384765625,
            -1.32568359375,
            0.3131103515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.05252274806100132,
            -0.1791218747406731,
            -0.015944170388637602,
            0.5174938140282137,
            -0.8037694142108975,
            -0.6282261979357884,
            0.916876489052143
          ],
          "torque": [
            30.18310546875,
            -0.73974609375,
            15.478515625,
            -4.302978515625,
            -0.1922607421875,
            2.9351806640625,
            0.7122802734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.2,
            -8.3,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.4,
            -16.2,
            -8.3,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.9,
            -17.0,
            -0.7,
            1.0,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -17.0,
            -0.7,
            1.0,
            0.2,
            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": -83,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6106378019341915,
          -1.0465957804916053,
          0.14607667958498402,
          -1.0514395823890468,
          0.5515841313091974,
          0.5281184487283627,
          -1.0260236621280394
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          544.0118644042035,
          -120.40434812687863,
          -25.954256653079938,
          1.5318086122383736,
          0.029344154948494593,
          2.4382943529943497
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6159672113216652,
          -1.0378778102341097,
          0.14678887165653864,
          -1.0674056588434726,
          0.5590960719159904,
          0.528025801249992,
          -1.0338150951890928
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          540.554338379098,
          -121.11798244456548,
          -25.901510832732725,
          1.5289907895204395,
          0.02592190565719303,
          2.4410379061910357
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.13671875,
            4.78271484375,
            -7.611083984375,
            1.62353515625,
            -6.6119384765625,
            -1.3275146484375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.5755592386353925,
            -0.9415130193666243,
            -0.07691447525681738,
            1.7242854019992038,
            -0.8112656585321787,
            0.01000563256337017,
            0.8414499533548891
          ],
          "torque": [
            38.16650390625,
            -1.35498046875,
            9.600830078125,
            -3.4423828125,
            -0.281982421875,
            3.8360595703125,
            0.5804443359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.5,
            -7.9,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -16.5,
            -7.9,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -2.0,
            -17.3,
            -0.8,
            1.1,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.0,
            -17.3,
            -0.8,
            1.1,
            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": -68,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6081048237292324,
          -1.0462957573081433,
          0.14607576617543774,
          -1.0474076762937603,
          0.5616669111487177,
          0.5284229417443214,
          -1.0375573406282044
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          546.1590644042035,
          -122.38274812687865,
          -24.69025665308004,
          1.5291709835488736,
          0.03497417664376246,
          2.430302779246983
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6153259054817128,
          -1.0387317718457203,
          0.14671799322277523,
          -1.0656405615779003,
          0.5587915981636916,
          0.5280483857746157,
          -1.033546526030225
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          540.9939668191804,
          -121.13335526453548,
          -25.8540079383242,
          1.5291574396253562,
          0.026510106827450506,
          2.4404152173058007
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.11474609375,
            4.79736328125,
            -7.611083984375,
            1.62353515625,
            -6.610107421875,
            -1.3275146484375,
            0.3167724609375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.7798538287087098,
            -0.8168863371658119,
            -0.0693584754936083,
            1.9690935353784411,
            0.31052464394765167,
            0.04045085169357421,
            -0.4331552013514539
          ],
          "torque": [
            39.64599609375,
            -0.03662109375,
            9.478759765625,
            -3.271484375,
            -0.1300048828125,
            3.94775390625,
            0.52642822265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.3,
            -8.6,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.3,
            -8.6,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.6,
            -17.1,
            0.0,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.6,
            -17.1,
            0.0,
            1.0,
            0.3,
            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": -51,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6048019186474662,
          -1.0458907559230752,
          0.14605034705508063,
          -1.0383371603987088,
          0.5645987618119639,
          0.5320032436283383,
          -1.0386614546203874
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          548.8382644042035,
          -125.36274812687867,
          -23.71825665308006,
          1.527594648866575,
          0.03835095597086149,
          2.422914459794229
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6141777471315646,
          -1.0396557969703544,
          0.14663522590476918,
          -1.0626888220187842,
          0.5593653416012394,
          0.5283537339870391,
          -1.0341315843204355
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          541.8426390710274,
          -121.50224271014034,
          -25.645124547213243,
          1.5290587926439412,
          0.027821330569954266,
          2.4386119356381277
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.13671875,
            4.7900390625,
            -7.60498046875,
            1.629638671875,
            -6.6119384765625,
            -1.32568359375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.0125596124339609,
            -0.6733557073284047,
            -0.06316505281267482,
            2.629901890157882,
            0.5651927132896972,
            0.3941354168572886,
            -0.4892115638712724
          ],
          "torque": [
            40.56884765625,
            1.11328125,
            8.905029296875,
            -4.1259765625,
            1.614990234375,
            4.5611572265625,
            -0.52734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.6,
            -8.5,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.6,
            -8.5,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -17.2,
            -1.4,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -17.2,
            -1.4,
            1.1,
            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": -89,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.606346453920005,
          -1.0425818778750846,
          0.14630646189961238,
          -1.042480854262282,
          0.5720313061967031,
          0.5322825775198012,
          -1.0476869389760364
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          548.3310644042035,
          -126.47154812687864,
          -23.490256653079996,
          1.5256292678441765,
          0.039906889544645906,
          2.420390435038892
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6124460446898734,
          -1.0405804298027876,
          0.1465430905874078,
          -1.058204243608033,
          0.5611569786861251,
          0.529115376321034,
          -1.0359401908077412
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          543.2060795066036,
          -122.3820984309181,
          -25.246077132012545,
          1.5285907064619895,
          0.030094235896415224,
          2.4352145647079815
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.14404296875,
            4.78271484375,
            -7.611083984375,
            1.62353515625,
            -6.61376953125,
            -1.3275146484375,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.6587363747545538,
            -0.21615001680341805,
            -0.025555144573141675,
            1.698075967268231,
            1.1743927342804383,
            0.3420476413107387,
            -1.2686113864823767
          ],
          "torque": [
            40.0634765625,
            0.146484375,
            12.640380859375,
            -4.473876953125,
            2.0489501953125,
            5.0592041015625,
            -0.52734375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.9,
            -16.5,
            -8.5,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.9,
            -16.5,
            -8.5,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.0,
            -0.9,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.0,
            -0.9,
            1.0,
            0.3,
            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": -53,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6093992841513192,
          -1.0380796688129321,
          0.1466612701225033,
          -1.0486700630148704,
          0.5742901269738768,
          0.5331738509077908,
          -1.049791543657242
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          546.7430644042036,
          -127.31074812687865,
          -23.943856653080047,
          1.5250413998142782,
          0.037938056081794444,
          2.421281188918402
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6115551908125422,
          -1.0405721016098046,
          0.1465288320002715,
          -1.0557635055203214,
          0.5634066305571453,
          0.5297906425645403,
          -1.0383415175498123
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          544.0422920081663,
          -123.22272215809994,
          -24.957880781607088,
          1.52799148035202,
          0.031778885370105696,
          2.4324986500461065
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.14404296875,
            4.76806640625,
            -7.611083984375,
            1.62353515625,
            -6.61376953125,
            -1.3201904296875,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.23283105242732915,
            0.26917480317667497,
            0.014302895359641354,
            0.766069196585839,
            1.1753829469398624,
            0.36537572488981596,
            -1.236566349026802
          ],
          "torque": [
            39.5068359375,
            4.46044921875,
            11.566162109375,
            -3.741455078125,
            2.3968505859375,
            5.2276611328125,
            -0.5621337890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.6,
            -7.7,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.6,
            -7.7,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.7,
            -17.0,
            -1.4,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.7,
            -17.0,
            -1.4,
            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": -20,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.619589661874882,
          -1.0190007639667609,
          0.148180291256891,
          -1.0705214776719219,
          0.553813796489,
          0.5407244663839795,
          -1.0298775672917737
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          539.2998644042035,
          -130.16514812687865,
          -26.041456653080104,
          1.5277404226571256,
          0.030387090279344442,
          2.4366317191803524
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6116481970380758,
          -1.0393246629681963,
          0.14661729961916375,
          -1.0555568030965856,
          0.5642967757611762,
          0.5306783498605366,
          -1.0393494887820174
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          544.1637453684153,
          -124.02021585464571,
          -24.886583057654065,
          1.527624630547237,
          0.03245859873762702,
          2.431329372212992
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.15869140625,
            4.78271484375,
            -7.611083984375,
            1.62353515625,
            -6.610107421875,
            -1.3275146484375,
            0.3131103515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.8576529072543693,
            2.1949163565579966,
            0.16879811844017212,
            -1.616137188716671,
            -1.1321283710534757,
            1.0849485856834207,
            1.0229373510215467
          ],
          "torque": [
            39.0966796875,
            4.28466796875,
            11.663818359375,
            -3.4423828125,
            2.530517578125,
            5.3668212890625,
            -0.6829833984375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.7,
            -8.4,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.7,
            -8.4,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.2,
            -1.1,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.2,
            -1.1,
            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": -45,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6380607152541465,
          -0.9768415350876382,
          0.15174939645328894,
          -1.1124560581004082,
          0.4871232843561133,
          0.549187469838938,
          -0.9736252456727404
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          524.1542644042036,
          -137.60594812687867,
          -31.94865665307998,
          1.5478782665315316,
          0.024032057242248904,
          2.47016366820203
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6160489144274607,
          -1.0288382864018908,
          0.1474733650050774,
          -1.06493142435529,
          0.5520655233386027,
          0.5339831064192708,
          -1.0289060100269578
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          540.9669795784897,
          -126.42416787767279,
          -26.05018099428034,
          1.5305002434733308,
          0.031165956488980656,
          2.4374117636040955
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.12939453125,
            4.69482421875,
            -7.60498046875,
            1.62353515625,
            -6.61376953125,
            -1.318359375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.3772043773861995,
            5.615483522106501,
            0.46179777640942277,
            -5.132509069208702,
            -7.0135549563628,
            1.6420228204494514,
            5.970146470197335
          ],
          "torque": [
            27.5244140625,
            3.20068359375,
            16.650390625,
            -7.916259765625,
            0.032958984375,
            5.299072265625,
            0.67108154296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -3.1,
            -15.9,
            -6.1,
            1.3,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -3.1,
            -15.9,
            -6.1,
            1.3,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.5,
            -17.6,
            -2.6,
            1.1,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            0.5,
            -17.6,
            -2.6,
            1.1,
            0.5,
            -0.1
          ]
        },
        "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": -15,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.661407657457597,
          -0.9277905079973419,
          0.1562956467082145,
          -1.1489648843075693,
          0.4256812683757278,
          0.5542322874041024,
          -0.9386348198034041
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          509.6838644042035,
          -151.05314812687865,
          -41.32545665307998,
          1.5790019319236301,
          0.03343510940452772,
          2.4891178792581856
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6240190885167335,
          -1.01093686198735,
          0.14902330535602115,
          -1.080029732602312,
          0.5296800760630315,
          0.5378062405478261,
          -1.0124785530109048
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          535.5932979081718,
          -130.80897894472136,
          -28.76897981796631,
          1.5381920877464963,
          0.03141476316839472,
          2.446690536853657
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.10009765625,
            4.78271484375,
            -7.60498046875,
            1.6357421875,
            -6.610107421875,
            -1.728515625,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.037846355700481,
            8.979541393505208,
            0.7853897022056522,
            -7.444776812212339,
            -11.23153997366444,
            1.7739607403024493,
            7.974887979662171
          ],
          "torque": [
            27.01904296875,
            5.7275390625,
            16.8212890625,
            -7.647705078125,
            -0.340576171875,
            4.654541015625,
            0.78643798828125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.1,
            -17.0,
            -8.0,
            1.5,
            0.0,
            0.1
          ],
          "actual_contact_FT": [
            -1.1,
            -17.0,
            -8.0,
            1.5,
            0.0,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.1,
            -17.2,
            -2.1,
            1.0,
            0.5,
            -0.2
          ],
          "actual_contact_FT": [
            1.1,
            -17.2,
            -2.1,
            1.0,
            0.5,
            -0.2
          ]
        },
        "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": 0,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6770418394600539,
          -0.8802292998466411,
          0.16118271242470514,
          -1.175470035889475,
          0.4060154777164295,
          0.5394256895553144,
          -0.9262419434560006
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          503.4662644042035,
          -170.18114812687867,
          -48.27825665308001,
          1.6124042691334521,
          0.03803030706403605,
          2.4716216672252926
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.630771337454712,
          -0.9946484315602675,
          0.1505202889479726,
          -1.092248392264378,
          0.5132676771101305,
          0.5386167992217233,
          -1.0009812571057426
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          531.5924370776521,
          -135.64105324336967,
          -31.386023486521765,
          1.5467864402994491,
          0.032256639348520716,
          2.4507368412980126
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.166015625,
            4.892578125,
            -7.611083984375,
            1.62353515625,
            -6.6156005859375,
            -1.7340087890625,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.997066835969122,
            12.35690177773563,
            1.15150777358064,
            -8.987672434281002,
            -11.582895915265734,
            0.08735757955369294,
            8.071607814825299
          ],
          "torque": [
            23.8623046875,
            12.0263671875,
            15.6982421875,
            -6.561279296875,
            -0.640869140625,
            4.5245361328125,
            0.5859375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -3.9,
            -16.1,
            -9.3,
            1.3,
            -0.3,
            0.0
          ],
          "actual_contact_FT": [
            -3.9,
            -16.1,
            -9.3,
            1.3,
            -0.3,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.8,
            -15.3,
            0.4,
            0.9,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -15.3,
            0.4,
            0.9,
            0.3,
            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": 20,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6814187888471283,
          -0.8583480763987901,
          0.1636583179068615,
          -1.1835074245554709,
          0.40957346785075766,
          0.5376440202041831,
          -0.9261647231567939
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          502.38306440420354,
          -180.42194812687865,
          -48.903856653080084,
          1.619952115315848,
          0.03859166112349811,
          2.4577175556502984
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.635627985909948,
          -0.9819961962231685,
          0.1517246859644815,
          -1.1009931008554752,
          0.5028065693874219,
          0.5385937232394699,
          -0.9935428088601714
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          528.911830164803,
          -139.7766725857487,
          -33.266518204137014,
          1.5534886714731921,
          0.03286620450323598,
          2.4519235163339177
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.1513671875,
            4.98046875,
            -7.60498046875,
            -0.20751953125,
            -6.6119384765625,
            -1.768798828125,
            0.31768798828125
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.945260864542611,
            13.353603097561617,
            1.2887942388226659,
            -8.911284135321829,
            -10.068878000277337,
            -0.10256490282101183,
            7.276618643569321
          ],
          "torque": [
            26.9091796875,
            8.16650390625,
            17.694091796875,
            -11.663818359375,
            -0.52001953125,
            3.9862060546875,
            0.96771240234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.6,
            -16.3,
            -5.2,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.6,
            -16.3,
            -5.2,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.6,
            -17.2,
            -1.7,
            1.2,
            0.2,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -17.2,
            -1.7,
            1.2,
            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": 0,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6826669374602896,
          -0.8216376786130998,
          0.16811149053607188,
          -1.2078121727805806,
          0.45838890178645236,
          0.5190028628275932,
          -0.9771009792150127
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          503.8614644042035,
          -197.53794812687866,
          -44.403856653080084,
          1.622094966234683,
          0.05736860789845359,
          2.417144974893165
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6443913438602965,
          -0.9554692127901867,
          0.15436304944379792,
          -1.118678801755552,
          0.48937461165277446,
          0.5368131823469199,
          -0.9851805564264873
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          524.3928330833727,
          -149.1754971513017,
          -36.19570189119909,
          1.565902246278977,
          0.03530941337679848,
          2.449257953258196
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.08544921875,
            4.833984375,
            -7.60498046875,
            -0.579833984375,
            -6.6119384765625,
            -1.5802001953125,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -4.133642193539622,
            14.453379411486722,
            1.4847878464887554,
            -9.62612016346398,
            -3.34635797001015,
            -1.9234577787328178,
            0.8725686038042468
          ],
          "torque": [
            26.103515625,
            10.30517578125,
            17.529296875,
            -8.282470703125,
            0.05859375,
            3.2244873046875,
            0.5145263671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -4.0,
            -16.6,
            -11.1,
            1.4,
            -0.3,
            0.1
          ],
          "actual_contact_FT": [
            -4.0,
            -16.6,
            -11.1,
            1.4,
            -0.3,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.8,
            -17.4,
            1.4,
            1.2,
            0.3,
            -0.1
          ],
          "actual_contact_FT": [
            -0.8,
            -17.4,
            1.4,
            1.2,
            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": -22,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6801440134899486,
          -0.793594064843919,
          0.1719049224821822,
          -1.220355885766545,
          0.4988276464526518,
          0.5061808791180581,
          -1.0187630309521318
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          506.77186440420354,
          -212.59954812687866,
          -39.67345665307994,
          1.6226142880798702,
          0.07592088710440148,
          2.380992466023744
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6514449430441226,
          -0.9281480968947453,
          0.15723552766582824,
          -1.1364327375005923,
          0.48643286776619565,
          0.5325218841225985,
          -0.9866571235284125
        ],
        "eef_pose_l": [
          557.5593616034287,
          401.5522418481571,
          40.169588104528316,
          1.7052167483512746,
          -0.2024207056698859,
          0.6933600492366803
        ],
        "eef_pose_r": [
          521.11628558148,
          -159.67443111474705,
          -37.78122077674573,
          1.576383702290667,
          0.04033594383909193,
          2.4401483965329898
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.13671875,
            4.8486328125,
            -7.60498046875,
            -0.787353515625,
            -6.61376953125,
            -1.761474609375,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -3.0994081959905273,
            14.5314068805531,
            1.5842479152716749,
            -9.06343270106369,
            1.3385966183401266,
            -2.844744639232122,
            -3.467335738160493
          ],
          "torque": [
            25.74462890625,
            10.751953125,
            17.59033203125,
            -8.10546875,
            1.8145751953125,
            2.6092529296875,
            -0.61248779296875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.3,
            -16.1,
            -10.3,
            1.4,
            0.0,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.1,
            -10.3,
            1.4,
            0.0,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.6,
            -18.3,
            1.1,
            1.1,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            0.6,
            -18.3,
            1.1,
            1.1,
            0.5,
            -0.1
          ]
        },
        "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": -1,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6794695550585378,
          -0.7669560659236418,
          0.1755934612717612,
          -1.2236620926621906,
          0.5292548874453149,
          0.4934062393531063,
          -1.0524798560045134
        ],
        "act_eef_pose_l": [
          557.5593616034287,
          401.5522418481571,
          40.169588104528316,
          1.7052167483512746,
          -0.2024207056698859,
          0.6933600492366803
        ],
        "act_eef_pose_r": [
          509.8566644042035,
          -229.44274812687866,
          -37.91265665307992,
          1.631245592424656,
          0.09574497744596845,
          2.3433009714203985
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6571579431195353,
          -0.8988035941523387,
          0.1605021029206623,
          -1.1535923039703664,
          0.4915385302962727,
          0.5261279661502207,
          -0.9960089092305555
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          518.9761799449833,
          -172.02699644529466,
          -38.39433985375331,
          1.586273972759204,
          0.048579109096486446,
          2.424408893022557
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.11474609375,
            4.87060546875,
            -7.60498046875,
            -1.1474609375,
            -6.6119384765625,
            -1.9573974609375,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.409583022559225,
            14.239113088507338,
            1.6298186329875008,
            -7.567313992719704,
            4.073246438114353,
            -3.5338422689816795,
            -6.098682380565101
          ],
          "torque": [
            24.84375,
            12.0703125,
            17.669677734375,
            -7.666015625,
            2.92236328125,
            2.5213623046875,
            -0.97320556640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.8,
            -15.7,
            -9.4,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -15.7,
            -9.4,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.4,
            -17.2,
            2.3,
            1.1,
            0.3,
            -0.1
          ],
          "actual_contact_FT": [
            -0.4,
            -17.2,
            2.3,
            1.1,
            0.3,
            -0.1
          ]
        },
        "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": 13,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6804029570325034,
          -0.7438087529281845,
          0.17910802053164684,
          -1.2280944011061252,
          0.5583359907099901,
          0.47840477202687454,
          -1.080268888905376
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          511.9350644042035,
          -244.12674812687865,
          -37.16945665308003,
          1.6414570832182487,
          0.10809748118154205,
          2.309042631402324
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6615173509030091,
          -0.8703658741566667,
          0.16388842204920034,
          -1.167510894798704,
          0.5030826888693366,
          0.5176651974646376,
          -1.0109022507127265
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          518.157203971963,
          -185.3181645567096,
          -38.57371074509297,
          1.5961695040393502,
          0.05865605927818202,
          2.4030837936753757
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.107421875,
            5.7275390625,
            -7.60498046875,
            -1.361083984375,
            -6.6119384765625,
            -2.1038818359375,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -2.0395853076324855,
            13.66776598346675,
            1.6436681587033153,
            -6.542825710871725,
            5.967180606206046,
            -4.240000895137097,
            -7.49137597848204
          ],
          "torque": [
            24.2578125,
            9.7265625,
            16.876220703125,
            -9.27734375,
            2.984619140625,
            3.05419921875,
            -0.7708740234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -15.9,
            -8.5,
            1.3,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -2.1,
            -15.9,
            -8.5,
            1.3,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -16.9,
            -0.9,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -16.9,
            -0.9,
            1.0,
            0.3,
            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": 47,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6800468670986524,
          -0.7284954342015516,
          0.18187479001019458,
          -1.236463912860415,
          0.5916167589518655,
          0.46437284138935586,
          -1.1184500235667856
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          513.4774644042035,
          -253.14434812687867,
          -35.12225665308006,
          1.6448879405401218,
          0.1232015402179489,
          2.2837746716598173
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6638716727004783,
          -0.853312811429533,
          0.16600591089383263,
          -1.1757491886959117,
          0.5124454064006714,
          0.5117058045203527,
          -1.0223968801060797
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          517.8569268813754,
          -193.4972346791104,
          -38.45566305460318,
          1.6019697740463874,
          0.06556910129329326,
          2.3888513103597835
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.15869140625,
            6.10107421875,
            -7.611083984375,
            -0.32958984375,
            -6.6119384765625,
            -2.197265625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.7468694738411727,
            13.479879172837883,
            1.7137883990800962,
            -6.556996821482031,
            8.55025389927011,
            -5.111809253392607,
            -10.373433545686872
          ],
          "torque": [
            24.755859375,
            13.26416015625,
            17.572021484375,
            -8.82568359375,
            3.1585693359375,
            2.391357421875,
            -1.38153076171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.8,
            -8.0,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.8,
            -8.0,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.3,
            -17.5,
            2.1,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -17.5,
            2.1,
            1.0,
            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": 95,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6774830519366541,
          -0.727191388720203,
          0.18209332003983467,
          -1.2265974693103232,
          0.5957385247642168,
          0.46865944314346486,
          -1.1229654132568414
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          515.7574644042035,
          -257.2139481268787,
          -34.26785665307989,
          1.642861242717817,
          0.1293899491125692,
          2.2748644321574982
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6664422749133527,
          -0.8310968976239561,
          0.16883632167655835,
          -1.185370705009697,
          0.5269086788154093,
          0.503820650955643,
          -1.0398894127082667
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          517.8004384154175,
          -204.61855556244535,
          -38.00894625357199,
          1.609169022568726,
          0.07599381696301934,
          2.3685925445089775
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.14404296875,
            6.30615234375,
            -7.611083984375,
            -0.299072265625,
            -6.6119384765625,
            -2.2998046875,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -1.1923687514796555,
            11.22146400221613,
            1.431713597098483,
            -4.452359229151881,
            7.4334041259351835,
            -3.7972984483842787,
            -8.971943445918562
          ],
          "torque": [
            22.8955078125,
            10.166015625,
            17.44384765625,
            -8.8623046875,
            2.5341796875,
            3.2794189453125,
            -0.911865234375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.9,
            -16.5,
            -8.4,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.9,
            -16.5,
            -8.4,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.4,
            -17.4,
            -0.9,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.4,
            -17.4,
            -0.9,
            1.1,
            0.3,
            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": 211,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6768760904851727,
          -0.7228369947116712,
          0.18302018535583522,
          -1.2257987724324968,
          0.6366999132051925,
          0.47446524984116645,
          -1.161060538086541
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          517.8670644042035,
          -261.8851481268787,
          -30.639056653079933,
          1.6287218012812377,
          0.13474269172072895,
          2.2560080574114796
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6676528769646726,
          -0.8191188737405829,
          0.17038613874500783,
          -1.1899764373855128,
          0.5370558904455692,
          0.500190335175206,
          -1.051477642681998
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          517.9355229381362,
          -210.8704827275006,
          -37.48950954848215,
          1.6120485230814277,
          0.08211060427323306,
          2.356628772522694
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.11474609375,
            6.5771484375,
            -7.611083984375,
            -0.244140625,
            -6.6119384765625,
            -2.4078369140625,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.9960776824726736,
            10.398136258486623,
            1.364436792057111,
            -3.868698083921984,
            10.761237072317353,
            -2.7782272766430083,
            -11.834603660712872
          ],
          "torque": [
            22.236328125,
            14.15771484375,
            15.863037109375,
            -8.819580078125,
            4.412841796875,
            2.969970703125,
            -0.95855712890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.4,
            -16.3,
            -8.1,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.4,
            -16.3,
            -8.1,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.6,
            -16.8,
            -2.5,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            -0.6,
            -16.8,
            -2.5,
            1.1,
            0.4,
            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": 122,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6746448793450948,
          -0.7255429859747131,
          0.1826587967185794,
          -1.2201367017400933,
          0.6647782519730084,
          0.48096532721163027,
          -1.1848776860979175
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          520.4574644042035,
          -263.51074812687864,
          -28.05265665308002,
          1.6163146624865998,
          0.135983520147987,
          2.2439097291588914
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6693950521885417,
          -0.7988845931565627,
          0.17304064046227624,
          -1.1970417014219585,
          0.5610681163751022,
          0.4953586546163881,
          -1.0771825326459603
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          518.534713578157,
          -221.92949847423495,
          -35.90513694340942,
          1.6141349829339176,
          0.09317440865979447,
          2.333721239664772
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.1513671875,
            6.884765625,
            -7.611083984375,
            -0.189208984375,
            -6.6119384765625,
            -2.5048828125,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.5669646111803317,
            7.920659968261745,
            1.0387302399696985,
            -2.4941864722602958,
            11.200364307486055,
            -1.5544335141481902,
            -11.630733542661531
          ],
          "torque": [
            22.1337890625,
            12.94189453125,
            16.668701171875,
            -8.612060546875,
            2.7923583984375,
            3.240966796875,
            -0.703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.1,
            -16.4,
            -8.2,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.1,
            -16.4,
            -8.2,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.7,
            -17.1,
            1.1,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -17.1,
            1.1,
            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": 145,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6745767441824113,
          -0.7272300072783127,
          0.1825567154961221,
          -1.2164874130027759,
          0.6884594973392204,
          0.4873472781547431,
          -1.2038060026999609
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          521.9838644042036,
          -264.83474812687865,
          -26.411056653080095,
          1.6061311030108818,
          0.13466443571640513,
          2.2342239400444
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.670318353100672,
          -0.7860388176108325,
          0.17473385111345374,
          -1.200861971538635,
          0.5811123994368956,
          0.49327394314883877,
          -1.0975887058917495
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          519.1842182547745,
          -229.36435768387733,
          -34.45318935470655,
          1.6136085126538404,
          0.10052241250375508,
          2.317120328677102
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.1953125,
            6.87744140625,
            -7.611083984375,
            -0.189208984375,
            -6.6119384765625,
            -2.567138671875,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.45989267301838055,
            6.351164198337145,
            0.8448444359734353,
            -1.6874979080370167,
            11.593144651926401,
            -0.6400609417740455,
            -11.471129732400165
          ],
          "torque": [
            22.78564453125,
            11.0595703125,
            17.279052734375,
            -7.952880859375,
            2.889404296875,
            3.1512451171875,
            -0.9539794921875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.5,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.5,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.1,
            -17.5,
            0.2,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.1,
            -17.5,
            0.2,
            1.1,
            0.4,
            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": 133,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6741727292756341,
          -0.725233373939891,
          0.18298243368917655,
          -1.2184530706520904,
          0.6937795661432236,
          0.48857936734226326,
          -1.2074084398116371
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          521.9830644042036,
          -265.54194812687865,
          -25.242256653080176,
          1.6030830834949985,
          0.13424461532113174,
          2.2321208134028034
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.671094216731054,
          -0.7747778111275408,
          0.17624335757235976,
          -1.2039574867056246,
          0.6017885675333052,
          0.49224241949455144,
          -1.1179274554410408
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          519.860653666075,
          -236.09337882717253,
          -32.87947985999887,
          1.6118107002101207,
          0.10686311243385958,
          2.301369561603994
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.1953125,
            6.97265625,
            -7.60498046875,
            -0.164794921875,
            -6.6119384765625,
            -2.6605224609375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.33246954914911697,
            5.350641407533274,
            0.7277987553393483,
            -1.56547689494424,
            9.934734840529202,
            -0.3955979649092889,
            -9.663661297569348
          ],
          "torque": [
            22.53662109375,
            13.01513671875,
            16.455078125,
            -8.587646484375,
            2.5946044921875,
            3.175048828125,
            -0.772705078125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.6,
            -8.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.6,
            -8.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.0,
            -17.4,
            0.8,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.0,
            -17.4,
            0.8,
            1.1,
            0.3,
            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": 146,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6732202408717147,
          -0.7229452278185338,
          0.1833691238704593,
          -1.2181458103002123,
          0.7015956429090596,
          0.49373846206384603,
          -1.2154809138941023
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          522.3830644042034,
          -267.0739481268787,
          -23.312656653080012,
          1.5966342567831313,
          0.13730290764136263,
          2.228279331039446
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6715808561368835,
          -0.7644971495967667,
          0.1776522303778708,
          -1.2068296073644762,
          0.621372966405559,
          0.4922229770894086,
          -1.1370427708461892
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          520.4518773119967,
          -242.20107246031893,
          -31.101381836015236,
          1.6090533464015273,
          0.11273933392005853,
          2.287041188908658
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.17333984375,
            7.08984375,
            -7.60498046875,
            -0.1220703125,
            -6.6119384765625,
            -2.7337646484375,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            -0.17704832959974937,
            4.48747520104309,
            0.6174062877741804,
            -1.222113872737296,
            8.663793537446729,
            0.16366755012287015,
            -8.47106960833166
          ],
          "torque": [
            22.58056640625,
            12.3046875,
            16.961669921875,
            -7.80029296875,
            2.4700927734375,
            4.8358154296875,
            -0.78277587890625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.3,
            -16.5,
            -8.1,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.3,
            -16.5,
            -8.1,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.5,
            -17.4,
            0.5,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.5,
            -17.4,
            0.5,
            1.1,
            0.3,
            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": 179,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6709939994772496,
          -0.7290585325980602,
          0.1824678531525617,
          -1.2134005906577163,
          0.7396981241012863,
          0.493626030006947,
          -1.2508579834683207
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          525.7374644042035,
          -267.83874812687867,
          -21.671056653080086,
          1.5870280970933752,
          0.13933113929461902,
          2.211999619400021
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6715873049895297,
          -0.7593292926683657,
          0.1783572611394228,
          -1.2079306300515413,
          0.6363141773308992,
          0.4924224537507899,
          -1.1514648393737477
        ],
        "eef_pose_l": [
          557.5281492132909,
          401.5112355459896,
          40.182751161902644,
          1.7051501660991695,
          -0.20239005988853903,
          0.6931448149846162
        ],
        "eef_pose_r": [
          521.1121511826726,
          -245.69290443025622,
          -29.845684221454377,
          1.6062338133023184,
          0.11636259143068786,
          2.277405863433413
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.17333984375,
            7.119140625,
            -7.611083984375,
            -0.103759765625,
            -6.6119384765625,
            -2.79052734375,
            0.31402587890625
          ]
        },
        "joint_status_r": {
          "velocity": [
            0.06407510553252393,
            3.2691456692957033,
            0.4439308443786594,
            -0.5907383225700613,
            11.165136953088961,
            0.12998240203865308,
            -10.734142975589833
          ],
          "torque": [
            29.39208984375,
            11.982421875,
            17.242431640625,
            -8.612060546875,
            2.7410888671875,
            4.9603271484375,
            -0.85235595703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.5,
            -7.8,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.5,
            -7.8,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.1,
            -17.0,
            0.4,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.1,
            -17.0,
            0.4,
            1.0,
            0.3,
            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": 232,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6604169325248002,
          -0.753765694922063,
          0.17854831096446055,
          -1.1859145486153082,
          0.7727213415182939,
          0.5008809560169422,
          -1.2838531275948704
        ],
        "act_eef_pose_l": [
          557.5281492132909,
          401.5112355459896,
          40.182751161902644,
          1.7051501660991695,
          -0.20239005988853903,
          0.6931448149846162
        ],
        "act_eef_pose_r": [
          534.1886644042036,
          -265.09954812687863,
          -19.3974566530801,
          1.5704032181756447,
          0.14651365345709433,
          2.196136878292804
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6700121401411845,
          -0.7574115828227653,
          0.17853921305013795,
          -1.2050770723353605,
          0.6591837151533986,
          0.49364372594383915,
          -1.1736248674094385
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          523.1600400500311,
          -249.1213989293345,
          -28.048388476400532,
          1.6003067564032467,
          0.1215079908516997,
          2.2640236317321807
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.107421875,
            6.5185546875,
            -7.611083984375,
            -0.09765625,
            -6.6119384765625,
            -1.9427490234375,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.0362518599542625,
            0.3937442804096136,
            0.0009825457680801009,
            2.0694915253756108,
            12.26170200783816,
            0.7815977959002574,
            -11.904301001434803
          ],
          "torque": [
            33.92578125,
            12.5830078125,
            13.348388671875,
            -3.289794921875,
            2.9534912109375,
            5.7476806640625,
            -0.64910888671875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.7,
            -16.6,
            -6.5,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -1.7,
            -16.6,
            -6.5,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.7,
            -18.2,
            1.6,
            1.2,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.7,
            -18.2,
            1.6,
            1.2,
            0.3,
            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": 181,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6546342563918784,
          -0.7845891019152601,
          0.17433274514499913,
          -1.1663765976564782,
          0.8200972291786566,
          0.5016420026490498,
          -1.328569739683148
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          541.3182644042035,
          -257.41874812687865,
          -19.33345665308002,
          1.55627872378659,
          0.14426945041554684,
          2.182951875639742
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6687217208014264,
          -0.7588400854036246,
          0.17829515235165042,
          -1.2020357218930608,
          0.6732297608440346,
          0.4944078027572329,
          -1.1871872163894845
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          524.695779525922,
          -250.19676841631062,
          -27.14602817812022,
          1.596280103329885,
          0.12394980853769624,
          2.25677175321223
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.13671875,
            6.123046875,
            -7.60498046875,
            -0.042724609375,
            -6.61376953125,
            -1.702880859375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.521401284898971,
            -2.7808117675975907,
            -0.4279273572755926,
            3.851071836258768,
            15.861218778497665,
            0.7812705459731006,
            -15.268862184697696
          ],
          "torque": [
            33.955078125,
            4.8779296875,
            11.0595703125,
            0.5615234375,
            4.4732666015625,
            5.7733154296875,
            -0.7891845703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.8,
            -15.8,
            -8.2,
            1.3,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -15.8,
            -8.2,
            1.3,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.2,
            -16.9,
            -0.1,
            1.1,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            -0.2,
            -16.9,
            -0.1,
            1.1,
            0.4,
            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": 219,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6536705770189898,
          -0.7983187032149226,
          0.17267687537086096,
          -1.162913830172012,
          0.8364612381271499,
          0.4985898019548266,
          -1.3454061678235052
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          543.1534644042035,
          -251.96594812687866,
          -20.147856653079998,
          1.5534388933507073,
          0.14161045680624063,
          2.1827398651207304
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6658061893842524,
          -0.765196981598782,
          0.17735615949993866,
          -1.1945678365224712,
          0.7041679092898329,
          0.4956003443956115,
          -1.2170630037708785
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          528.2371489750519,
          -251.07017382673354,
          -25.550333720258976,
          1.5873955115552862,
          0.12800155400764954,
          2.2423741230914276
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.11474609375,
            5.8154296875,
            -7.60498046875,
            -0.030517578125,
            -6.6119384765625,
            -1.5289306640625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.3106074811473079,
            -3.5770404353749896,
            -0.5053477815044616,
            3.4185318616426486,
            14.287258134276115,
            0.3228518943871883,
            -13.860652919577277
          ],
          "torque": [
            36.0498046875,
            2.58544921875,
            9.28955078125,
            -4.01611328125,
            2.5543212890625,
            5.9820556640625,
            -0.9320068359375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.8,
            -16.1,
            -6.3,
            1.3,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -16.1,
            -6.3,
            1.3,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -1.3,
            -16.7,
            1.1,
            1.0,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -1.3,
            -16.7,
            1.1,
            1.0,
            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": 225,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6528565865543539,
          -0.8238177739724465,
          0.16967962347033325,
          -1.152813716923015,
          0.8405127901634267,
          0.4980648221887226,
          -1.3430444566785322
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          545.1942644042035,
          -240.78754812687865,
          -22.56305665308014,
          1.5502440745415937,
          0.12714712855700802,
          2.193373544983958
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6634534185342928,
          -0.7732967426943986,
          0.17625549419322928,
          -1.1878558197956426,
          0.7294683777388045,
          0.4961276107615015,
          -1.2411543371179166
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          531.2413205785115,
          -250.39004940473626,
          -24.635153513350446,
          1.580219904998496,
          0.12966903221338805,
          2.232109995731232
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.10009765625,
            5.8447265625,
            -7.611083984375,
            -0.01220703125,
            -6.6119384765625,
            -1.4447021484375,
            0.31219482421875
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.1444241008486955,
            -5.456110458652574,
            -0.7101730926371008,
            3.784435494285532,
            11.992442843664186,
            0.2092126637416314,
            -11.00380837256587
          ],
          "torque": [
            35.7421875,
            1.79443359375,
            9.65576171875,
            -4.840087890625,
            2.4700927734375,
            6.20361328125,
            -0.88714599609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.2,
            -8.7,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -16.2,
            -8.7,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.4,
            -16.5,
            -4.2,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.4,
            -16.5,
            -4.2,
            1.1,
            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": 175,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6497246565110056,
          -0.8434272271732899,
          0.16743539895697124,
          -1.1405575710542766,
          0.830920778523383,
          0.4987202239981094,
          -1.3309164059638703
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          547.2862644042035,
          -232.68594812687866,
          -23.83425665307982,
          1.5485952847925126,
          0.12009349528050826,
          2.2039279539937264
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6610535756988395,
          -0.7851398931099388,
          0.17474044405195308,
          -1.1797567807539837,
          0.7509738244089699,
          0.4965734429090804,
          -1.2606011912281012
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          534.2773159437784,
          -247.78222529197845,
          -24.30916566092992,
          1.5736297402893438,
          0.12862111861691783,
          2.2253190874092312
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.1513671875,
            5.66162109375,
            -7.611083984375,
            -0.01220703125,
            -6.6119384765625,
            -1.3330078125,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.2234871874614583,
            -6.294846422269629,
            -0.788921602259185,
            4.233389790410769,
            8.634016397654598,
            0.2318455196967939,
            -7.59381922373592
          ],
          "torque": [
            37.939453125,
            2.98095703125,
            9.429931640625,
            -2.79541015625,
            2.666015625,
            5.8026123046875,
            -0.8258056640625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.1,
            -8.6,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -16.1,
            -8.6,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.3,
            -17.3,
            -1.7,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.3,
            -17.3,
            -1.7,
            1.0,
            0.4,
            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": 192,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6436806740927477,
          -0.8536696002528855,
          0.16612874089895713,
          -1.1205233108625654,
          0.8139476119073095,
          0.4996671766312109,
          -1.323959094059554
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          551.0214644042035,
          -232.25474812687867,
          -24.459056653080097,
          1.551311263635164,
          0.13362940971209605,
          2.2036950005337936
        ],
        "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6584762082061304,
          -0.7968968534958555,
          0.17326530733405063,
          -1.1709021714602514,
          0.7648629681034029,
          0.49704754107616855,
          -1.2733917396819525
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          537.056668029091,
          -244.94680928391193,
          -24.29229306434189,
          1.568884909015908,
          0.1279825989139497,
          2.221280349507575
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.107421875,
            5.478515625,
            -7.611083984375,
            -0.01220703125,
            -6.6119384765625,
            -1.270751953125,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.5978705575721008,
            -6.131275817445214,
            -0.7707264436287442,
            5.44075647801634,
            5.300985186620366,
            0.2829122958925012,
            -5.461113205855739
          ],
          "torque": [
            37.25830078125,
            4.541015625,
            9.564208984375,
            -2.4658203125,
            2.2393798828125,
            6.0736083984375,
            -0.703125
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.2,
            -16.0,
            -9.4,
            1.4,
            -0.1,
            0.1
          ],
          "actual_contact_FT": [
            -2.2,
            -16.0,
            -9.4,
            1.4,
            -0.1,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.8,
            -16.9,
            -1.2,
            1.1,
            0.5,
            0.0
          ],
          "actual_contact_FT": [
            0.8,
            -16.9,
            -1.2,
            1.1,
            0.5,
            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": 171,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.638667977483617,
          -0.8446767898282586,
          0.1671099266981151,
          -1.1201072230483002,
          0.8688096063831043,
          0.4962948357396138,
          -1.3741064908534057
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          555.3718644042035,
          -242.06274812687866,
          -20.103056653079875,
          1.543476331994239,
          0.1422777504369325,
          2.1688615354183423
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6568066383643144,
          -0.8033032505272989,
          0.17245999702873543,
          -1.1652172785949857,
          0.7704018178916748,
          0.4973431481482575,
          -1.2790979027175196
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          538.6594467331962,
          -243.54773426084378,
          -24.337791851186523,
          1.566842089629868,
          0.1286024970762589,
          2.219303409233526
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.12939453125,
            5.888671875,
            -7.60498046875,
            0.0,
            -6.61376953125,
            -1.270751953125,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            1.4175623325627384,
            -5.439405343677706,
            -0.6837554957257463,
            4.826806156064123,
            4.7028070518084775,
            0.25098767367337516,
            -4.844865773261375
          ],
          "torque": [
            37.08984375,
            2.4462890625,
            9.344482421875,
            -2.83203125,
            2.16796875,
            6.0882568359375,
            -0.66650390625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.6,
            -16.5,
            -8.2,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.6,
            -16.5,
            -8.2,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            -0.8,
            -17.5,
            -0.7,
            1.1,
            0.3,
            0.0
          ],
          "actual_contact_FT": [
            -0.8,
            -17.5,
            -0.7,
            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": 192,
          "control_force": 100,
          "control_position": 20
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.635435288584206,
          -0.8416774089341905,
          0.1673089700271996,
          -1.1120859850595528,
          0.8884574109717054,
          0.49995315759680864,
          -1.3959568252870227
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          558.2422644042035,
          -248.01554812687866,
          -18.02785665307988,
          1.5380510049408376,
          0.15262405816863692,
          2.1508710072148265
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6544448978405267,
          -0.8085040369431289,
          0.17178158040097852,
          -1.1591857283666591,
          0.7829429888560532,
          0.4974161070714256,
          -1.2913695399107619
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          540.8688218225808,
          -243.4825478752485,
          -23.765147875200086,
          1.5635821936804553,
          0.1307286163737088,
          2.212703233312323
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.13671875,
            5.72021484375,
            -7.60498046875,
            -0.030517578125,
            -6.6119384765625,
            -1.5728759765625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.052977250356136,
            -3.5826185113494446,
            -0.4830276742284756,
            5.086622255264572,
            11.395221504396424,
            0.2739933757385238,
            -11.295093689653868
          ],
          "torque": [
            37.47802734375,
            5.31005859375,
            10.040283203125,
            -2.166748046875,
            2.6605224609375,
            4.2132568359375,
            -0.94573974609375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.5,
            -7.3,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.5,
            -16.5,
            -7.3,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.7,
            -17.4,
            -1.0,
            1.1,
            0.4,
            -0.1
          ],
          "actual_contact_FT": [
            0.7,
            -17.4,
            -1.0,
            1.1,
            0.4,
            -0.1
          ]
        },
        "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": 101,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6284869205384194,
          -0.8282313010054614,
          0.1686596348584346,
          -1.1091844386253216,
          0.9367617529801925,
          0.4978625535435774,
          -1.442543302507916
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          562.6366644042034,
          -261.04834812687864,
          -12.79265665308003,
          1.5310711266720893,
          0.1671872943749309,
          2.113041732332522
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6502546102777841,
          -0.8136202037639841,
          0.17105209420871562,
          -1.1500329286608004,
          0.8070377868945885,
          0.49771615036827527,
          -1.3151415344361153
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          544.6128945012201,
          -245.38468587466716,
          -22.205285861600572,
          1.557854045956412,
          0.1362892709259918,
          2.198011112665385
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.15869140625,
            5.82275390625,
            -7.611083984375,
            -0.018310546875,
            -6.6119384765625,
            -1.7156982421875,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.3508411574981736,
            -1.5779519628740246,
            -0.2583779893789995,
            4.411506813394084,
            14.009775141014202,
            0.015811076609306696,
            -13.758985152177772
          ],
          "torque": [
            39.74853515625,
            5.7275390625,
            10.19287109375,
            -3.1005859375,
            2.4810791015625,
            5.09765625,
            -1.0455322265625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.7,
            -15.9,
            -8.1,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.7,
            -15.9,
            -8.1,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.0,
            -17.6,
            0.9,
            1.1,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            1.0,
            -17.6,
            0.9,
            1.1,
            0.5,
            -0.1
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 192,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 36,
          "motor_current": -862,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.619746700398527,
          -0.8222920982982068,
          0.16891200683525234,
          -1.0903872472850566,
          0.9426446795111456,
          0.5063810318624313,
          -1.4508837790955327
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          567.1982644042034,
          -271.50114812687866,
          -8.32065665308005,
          1.5225559289126471,
          0.18432511040121735,
          2.0900081024525066
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6453890484812946,
          -0.8158721493850724,
          0.17062150586525401,
          -1.1406966365046727,
          0.8320656867234268,
          0.4984754428204553,
          -1.3399415215318498
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          548.5356030500463,
          -249.12763621627013,
          -20.0467553647739,
          1.5519085399281436,
          0.14381165872604493,
          2.1803227595960637
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.1220703125,
            5.888671875,
            -7.598876953125,
            0.006103515625,
            -6.6119384765625,
            -1.8731689453125,
            0.3131103515625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.7692919170396735,
            -0.693334033823767,
            -0.18462045015099626,
            5.433253790464221,
            11.9421790053309,
            0.8537784356841271,
            -11.981410444064977
          ],
          "torque": [
            38.63525390625,
            5.68359375,
            9.844970703125,
            -1.79443359375,
            2.567138671875,
            5.753173828125,
            -0.91278076171875
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.7,
            -16.3,
            -10.7,
            1.4,
            -0.2,
            0.1
          ],
          "actual_contact_FT": [
            -2.7,
            -16.3,
            -10.7,
            1.4,
            -0.2,
            0.1
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            1.3,
            -17.1,
            -0.1,
            1.0,
            0.5,
            -0.1
          ],
          "actual_contact_FT": [
            1.3,
            -17.1,
            -0.1,
            1.0,
            0.5,
            -0.1
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 219,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 114,
          "motor_current": -1379,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.616034464202718,
          -0.8080238254872973,
          0.17048787217004918,
          -1.0940812937947046,
          0.9684693628605672,
          0.500406139211107,
          -1.4877907894997033
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          568.5214644042035,
          -281.19394812687864,
          -5.172656653080139,
          1.5226336663823592,
          0.20538567095903176,
          2.0666222204722713
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6402228653067816,
          -0.8158603149156177,
          0.170433691709127,
          -1.1315035628730126,
          0.8551871916257219,
          0.4994567334963943,
          -1.3640835121196295
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          552.3332253417418,
          -254.06593929068407,
          -17.598447306189172,
          1.5463827729888249,
          0.15349463350462567,
          2.161630195349203
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.13671875,
            5.9912109375,
            -7.60498046875,
            0.018310546875,
            -6.6119384765625,
            -2.0013427734375,
            0.31585693359375
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.6122702744464377,
            0.8463158975056118,
            0.005851317204319528,
            4.041485863204741,
            12.234113667467739,
            0.10253279314564878,
            -13.359991925147696
          ],
          "torque": [
            38.47412109375,
            11.79931640625,
            12.39013671875,
            -2.8076171875,
            2.515869140625,
            5.7476806640625,
            -0.98052978515625
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -2.5,
            -16.3,
            -8.2,
            1.4,
            -0.2,
            0.0
          ],
          "actual_contact_FT": [
            -2.5,
            -16.3,
            -8.2,
            1.4,
            -0.2,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.6,
            -17.3,
            -0.2,
            1.1,
            0.4,
            -0.1
          ],
          "actual_contact_FT": [
            0.6,
            -17.3,
            -0.2,
            1.1,
            0.4,
            -0.1
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 242,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 260,
          "motor_current": -1950,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.6138212737408573,
          -0.8000716291073217,
          0.17132570323239757,
          -1.0936296619773327,
          0.9734753997566798,
          0.4979193293343837,
          -1.5018057200078885
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          569.1150644042035,
          -286.7019481268787,
          -3.747856653079907,
          1.5238877072647392,
          0.21996128600538165,
          2.056198836892728
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    },
    {
      "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": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "joint_pos_r": [
          -0.6361177969499349,
          -0.8141099321767887,
          0.17049128490731186,
          -1.1253252721342795,
          0.8741011519933127,
          0.4994683033803263,
          -1.3852348161910257
        ],
        "eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "eef_pose_r": [
          555.1712759475771,
          -258.75432098022173,
          -15.502335683974934,
          1.5425787810658704,
          0.16305620327548734,
          2.145672772344182
        ],
        "joint_status_l": {
          "velocity": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ],
          "torque": [
            -40.15869140625,
            5.80078125,
            -7.611083984375,
            -0.030517578125,
            -6.6119384765625,
            -2.1002197265625,
            0.31494140625
          ]
        },
        "joint_status_r": {
          "velocity": [
            2.407953487788106,
            1.5160920167582859,
            0.09011452132323683,
            3.4230249402273927,
            10.732102232007712,
            -0.16728426317635936,
            -12.589286311069259
          ],
          "torque": [
            37.68310546875,
            11.66015625,
            13.9404296875,
            -2.84423828125,
            2.6568603515625,
            4.47509765625,
            -0.68206787109375
          ]
        },
        "eef_FT_l": {
          "raw_value": [
            -1.8,
            -16.4,
            -8.0,
            1.4,
            -0.1,
            0.0
          ],
          "actual_contact_FT": [
            -1.8,
            -16.4,
            -8.0,
            1.4,
            -0.1,
            0.0
          ]
        },
        "eef_FT_r": {
          "raw_value": [
            0.9,
            -16.7,
            -1.9,
            1.0,
            0.4,
            0.0
          ],
          "actual_contact_FT": [
            0.9,
            -16.7,
            -1.9,
            1.0,
            0.4,
            0.0
          ]
        },
        "gripper_state_l": {
          "state_flag": 1,
          "position": 700,
          "motor_current": 225,
          "control_force": 100,
          "control_position": 700
        },
        "gripper_state_r": {
          "state_flag": 0,
          "position": 474,
          "motor_current": -2284,
          "control_force": 100,
          "control_position": 700
        }
      },
      "actions": {
        "act_joint_pos_l": [
          0.3525439775156468,
          -0.8462461121061275,
          -0.05514420505688394,
          -0.23210216829044536,
          -0.04914768270327119,
          -1.33800242322662,
          0.4794743167475642
        ],
        "act_joint_pos_r": [
          -0.611491537736632,
          -0.781027850385574,
          0.17348452795457944,
          -1.0964628840325414,
          0.9932908146870094,
          0.4938820823699943,
          -1.5316865583169976
        ],
        "act_eef_pose_l": [
          557.5213934585098,
          401.499090901115,
          40.203339920117315,
          1.7050799491051147,
          -0.20240086763510956,
          0.6930862003214844
        ],
        "act_eef_pose_r": [
          569.4518644042034,
          -299.0019481268787,
          -0.8094566530799057,
          1.5251104513135043,
          0.24131352595011415,
          2.0317602324251407
        ],
        "act_grip_l": false,
        "act_grip_r": false
      }
    }
  ]
}